We are a family of 4, so our needs differ from a couple traveling. We have a fifth wheel with 4 slides that we pull with a 4 door F350 dually. It is a comfortable ride while pulling the fiver and we make pit stops in rest areas for bathroom and just walking around to stretch and we stop at to get fuel at large stations.
We have wally-docked on occasion for the night and we have pulled in to campgrounds just to overnight if we are enroute somewhere. As long as we have room, we do not unhook, push the button to activate our level-up system while still attached to the truck. The slides go out, plug into electric, if available. We usually have something that is easy to prepare for dinner and have, on occasion, had pizza delivered to us in the Walmart parking lot. If we are at a Walmart, that is usually a really late evening, so we have probably already eaten dinner before we stop for the night.
Right now, with a family, this works best for us....NOW. In another few years, when the kids are off on their own, our needs may change.