Like @
Pace and @
relgate, it's stress free.
Mine's an older Expanda but Mrs XF and I can (for example) simply stop without unhitching. I unzip the bed fly and drop down our bed end and turn on the gas. Meanwhile she's opened up, turned lights on, put extra step in place, turned fridge on and HWS, Put kettle on, slid out the lounge, then starts making up bed while I do the outside bits of the end fly and roll out the awning, connect the TV aerial, and spin down the drop jacks, position the grey water tank or sullage hose(s). Coffee's ready and we can relax while tuning in the telly and finishing the bedding. Longer version means an extra 15-20 mins between the two of us to drop other bed end, add shade screens, skirt, floor, screw in some pegs/tie-downs, set up furniture and BabyQ and connect to 240v if needed. Most jobs are interchangeable between the two of us, although bed making looks better if I don't get involved. Establishing a routine makes it simple and straight forward. Give the kids a few tasks of their own can keep then out from underfoot and speed up the set-up or pack up.
Mrs XF also loves being able to stop and make a cuppa or meal anywhere along the way. Especially in highway service centre carparks where she can show off her Expanda style....out of Pathie, turn on gas on way to van door, inside and put lights* and kettle on.
*Don't always need the light on but it makes it harder for anyone passing by to not notice how nice our van looks inside with lovely carpet and all.