Pops up in under 30 seconds once unlatched. To pop down, you have to close all the windows and turn on the fan, then crank it down. The fan sucks the sides in so no tucking. Then latch and go. Doing the latches is the most time-consuming part (unless someone unzipped all the windows)--I imagine they are the same as on your Palomino. I think the company has videos of up and down popping and they are fair representations of the process.
We often do pop up when we pull over for lunch. I wouldn't bother (I can stand up in ours with the top down) but my spouse prefers it. I'm the short one.
I really like the Laredo though. I don't know how Lance is with customer service, but Northstar is great--they'll answer the phone and tell you where to drill and stuff. If you're ready to move to a hardside but don't want a behemoth, I think it's a great choice.