I totally understand where you are coming from. I am in the same boat as you when we use our fifth wheel. So once a year myself and my wife take a trip with just our Touareg and a tent. This weekend coming up we are going to Jasper for two days and then hiking the Berg Lake trail in Mount Robson provincial park for two days. Nice thing about it is 40 mpg and I don't have to make a reservation for a tenting spot. All of the sudden there are tons of places to camp when you don't have a 36' fiver.
Mind you after a couple of nights on a thermarest and using community showers it sure is nice to go back to a memory foam and a familiar (always clean) shower.
Enjoy the mall...my wife and daughter alway$ do!
2014 Chaparral 343 RLTS Fifth Wheel
2015 Ford F350 Lariat FX4