We take the camper off our truck occasionally when camping. For example, when we were in Glacier last fall we took it off so we could drive the Going to the Sun road. We boondock a lot too, but we usually move on after 1-2 nights so it is usually not worth the time/effort to load and unload the camper. We've used the camper on the ground, off the truck for many nights and never had any difficulties. I believe some of the pop-up truck campers are not recommended to be used off of the truck, but I am not certain about that.
I also agree that you would have access to a lot more dispersed camping areas with a truck camper as compared to a trailer.
