I'm going to see if I can't keep my response short and then let it go.
As of now, no one has produced a federal, state, or local law/ordinance prohibiting the removal of a truck camper from its truck at a campground, park, USFS, etc. Please do not confuse a gampground's rule or a state park's rule for this. That is not a law but a private rule.
I am a 20 year LEO so I have experience researching, finding, and interpreting laws. I also write policy and SOPs for my Dept. Needless to say I have a lot of contacts in other jurisdictions at the local and state level. I have reached out to all those contacts, and a USFS ranger. None of them said this is prohibited per their ordinances.
I'm not saying there isn't a local ordinance that specifically prohibits this, but if there is it is rare and not so common as some here spout off. I have personally removed my TC on state park property and USFS property and spoken with the rangers and none of them said it was prohibited.
My insurance covers my TC no matter where it is. I just paid the premium and it was $180 through Progressive with my USAA discount.
Some people want something to be true so badly they will find something vague and figure out a way to make it apply. The following is what is happening around here sometimes:
Start with a cage containing five monkeys. Inside the cage, hang a banana on a string and place a set of stairs under it. Before long, a monkey will go to the stairs and start to climb towards the banana. As soon as he touches the stairs, spray all of the other monkeys with cold water. After a while, another monkey makes an attempt with the same result - all the other monkeys are sprayed with cold water. Pretty soon, when another monkey tries to climb the stairs, the other monkeys will try to prevent it.
Now, put away the cold water. Remove one monkey from the cage and replace it with a new one. The new monkey sees the banana and wants to climb the stairs. To his surprise and horror, all of the other monkeys attack him. After another attempt and attack, he knows that if he tries to climb the stairs, he will be assaulted.
Next, remove another of the original five monkeys and replace it with a new one. The newcomer goes to the stairs and is attacked. The previous newcomer takes part in the punishment with enthusiasm! Likewise, replace a third original monkey with a new one, then a fourth, then the fifth.
Every time the newest monkey takes to the stairs, he is attacked. Most of the monkeys that are beating him have no idea why they were not permitted to climb the stairs or why they are participating in the beating of the newest monkey.
After replacing all the original monkeys, none of the remaining monkeys have ever been sprayed with cold water. Nevertheless, no monkey ever again approaches the stairs to try for the banana.
Why not?
Because as far as they know that's the way it's always been done around here.