You will get answers that cover the entire range, from people who never take their camper off and can't fathom anyone that would ever take their camper off, to others who take their camper off every time they stop and can't fathom anyone who would ever leave their camper on.
It all depends on your needs, your expectations, and how much you practice. First time on and off is going to be hairy, but the more you do it the easier it will get.
For me I leave the camper on while camping, but that's just me. Generally I only load and unload the camper twice a year. I unload it in the spring to drive the truck around for the month or two before camping season starts, then load it around Memorial Day. After Labor Day I unload the camper and drive the truck around until late October when I get the NY State Inspection done and then back it under the camper for the winter.
