A Costco frame supported "garage" is the ticket for me. I raised it up 5 feet for clearance when on the truck. I used Chain link fence posts (4 - 6 foot posts cut in half) and drove them 2 feet into the ground and then placed 5 foot lengths of 3" PVC pipe pegged on top of it. The 2" pipe from the Costco garage fits nicely into the PVC and then holes drilled though both pipes and pinned into place to give me a 12' wide x 20' long garage that is about 14 feet high. The tarpaulin material is very heavy and it lasted me about 8 years. I just replaced it For just over $200 I can do that every 8 years and feel pretty good about it.
Tarps that are tight up against the camper do as much damage as good. They will leak in very short order due to chaffing and will hold moisture agianst the seams. More campers have been destroyed by tarping than anything else. As one who is in Vancouver and lives eats and breathes rain, I am very familiar with moisture ;-)