I never, ever take the camper off during a camping trip. First the fit is really tight, barely 1/4" clearance in the tailgate opening. Next I use the wheel well space. It is packed with paper goods, tools, extra boots, dirty clothes, etc.
Finally and most importantly, I really like having the camper with me at all times. I like having my own kitchen for hot meals, like using my own rest room facilities, and I have even been known to take a midday nap.
In years and many hundreds of nights of camping, I only put down the corner jacks once. That was during a hurricane with 50-60 mph winds. Think twice if you do put down the jacks. As a precaution, you might want to undo the tiedowns just in the rare case that you develop a flat tire.