We always drop the stabilisers as that stops any bounce from the suspension.
I generally try to use this to my advantage after the kids are asleep

In all seriousness, we have only ever used the camper at any one spot for a minimum of 2 nights so I have always unhitched.
The rear door of the Prado hits the stone guard and the brake lever, so I would unhitch anyway I suspect. It doesn't take long to re-connect the camper, using the reversing camera.