I don't quite understand your dilemma. While I'm not familiar with your TC, Most TC's can be used off the truck with certain precautions. That being, you need to lower the camper down on the jacks as close to the ground as possible. You never want the jacks extended because they are wobbly extended, however, they aren't when retracted (so long as the mounts are tight) (you have checked them haven't you)?
far as sinking in, I carry 4 wood planks 8" x 4" x 1" thick to put under each pad. so they don't sink and I too camp almost always off the beaten path, in the woods, on, uneven ground.
One thing you need to do is check your owners manual or call the manufacturer to see if your unit can be used off truck. Most can, but some cannot.