Having an organised camper where everything has a place has really helped us reduce setup/packup with our soft-floor camper trailer.
We used to throw everything randomly into the trailer then have to pull everything out onto grass at the site cause we couldn't access the inside of the trailer once the tent was set up - storage tubs, bags, sleeping gear, chairs, ropes/pegs etc.
Nowadays, we have a more organised pack where everything has a place in the camper/ute and we have a routine...and we've learnt a ton from others on this forum.
Tips we've learnt from others.
-Have the bed already set up with sheets/doona/pillows. Easy as. Every camping trip, take a spare sheet set and prior to packing up, change the sheets & whatever else for washing. That way, you have a clean bed ready for the next time you go camping.
-Pack stuff that you use in the tent....on the bed. ie ladder, table, sleeping bags, portable cot or stretchers etc. If it fits under the cover, brilliant. We also store all the interior tent poles on the bed wrapped in a tarp.
Things we are doing to our camper.
-We had too much wasted space in our tailgate kitchen so removed the sink & created an extension for extra bench space with a spot for a removable tap and drawer for washing. We are also re-fitting the inside of it with drawers that will suit our needs.
-Currently building a pullout storage box/drawer (similar to the Drifta products) that will store pantry, cooking gear, camping chairs and whatever else so we can access stuff easily whilst the tent is set up. No longer have to pull everything out first which will save us a ton of time in setup.
-Build a little trolley for our waeco to sit on so it can be easily moved around the campsite once taken off the back of the ute. It doesn't fit in the trailer so this will give us less back ache. Short-term solution at least anyway.
Plenty of people on here who have inspired us to do our own tweaks or have suggested something that we had never thought of. That or chatting with other campers.
Good luck with yours!