We also routinely use our TC off the truck. It's why we bought the model that we did. It makes it easier to move the boat back and forth from the lake or sight see or run errands. No need to break camp.
We lower it as low as possible and invested in a set of Torklift wobbl-stopprs. They really make a difference. DH has also started using a set of scissor jacks to help support the floor. We've not had any issues but he feels that it will help maintain the integrity of the floor, especially since we keep our FWT full.
As another poster mentioned, it makes it easier for the dog...me as well, we don't have to climb a mountain of stairs.
2011 Adventurer 910FBS truck camper,Torklift tie downs,Fastguns & Wobbl-stopprs
2012 Dodge 3500 DRW 6.7L CTD,4x4,LB,CC,auto,3.73 axle,General 17" on/off rd
2008 Lund 1825 Explorer Sport,115 Merc,9.9 kicker,Torklift Super Hitch,42" Supertruss
USAF ret E-9&E-7