Yeah about 20 minutes. It's not too bad, just try to get lined up straight to start with. Mine is stored outside with a Classic Accessories cover on it. But its about 3 feet from the 5th wheel on one side, and the same on the other side from my raised bed garden. I have to move the GoDevil boat first so it gets a bit involved for me.
I put a strip of blue masking tape in the middle of the camper that I can see out the truck back window. I line that up with the middle of the rear seat head rest. Also have a 1" wide stripe spray painted down the center of the rubber bed mat that I line up with another piece of tape.
I drove up to Maryland to get mine. Coming back to the Houston area I had the camper on a 4x8 sheet of plywood and the bed mat. That was with a 2016 RAM SRW. I didn't discover the Fast Gun/fender clearance issue until I realized I was too heavy for the SRW and got the dually.
I really recommend taking 4 eyebolts with you when you go get the Bigfoot. I missed telling something....I talked to Torklift about the clearance issue and they recommended drilling an extra hole in the frame mounted extensions. Drill the hole 1" farther "in" on the extensions so they will stick that much farther out. Are you having the Bigfoot dealer install the frame mounted hold downs?