On the other hand, if you are just going a few miles to coffee or a trail head, why bother to take it off? When you get back from your trail activities your camper is at hand. You can use the rest room, kitchen, etc. If you forgot to bring something, no problem, it's in the camper.
Of course, my interests are different. I travel to visit National Parks and other scenic areas. When I stop for the evening, I may take down folding chairs and a table, but I put them back on the ladder carrier rack and in the morning, I can leave by just getting in the truck and driving. I have no setup or take down except making sure the windows are closed and there is nothing left on the kitchen countertop.