We arrive around 9-10 frequently. We use walkie talkies while backing in to keep it quiet. We turn our headlights off once the campsite is found. Once backed in, level and unhooked (these are first priority), the truck is parked and shut off. DH has a baseball cap with a light on it he uses while he plugs in electric and water. He sets up the rest of the site and sewer (if applicable) in the morning. I will start a late dinner or finish the inside set up while he does outside setup. The dog and child are hustled inside as soon as possible to decrease noise as well. Never had a complaint from any neighbors doing things this way.
I understand coming in late is less than ideal but when you are stuck working until 430-5 pm then you don't often get an option. We have to pay for camping somehow.