for us, I will generally start packing up in the morning while others are still sleeping and I am having my morning coffees.. When we did our trip this year, we could be on the rd within the hour of waking up. That's coffee, breakfast, pack up, hook up, gone.
But it is all depended on how much crap you have out. The best way is for everything to have a place, when it has finished being used, out it back in its place. Then you don't have to do it later. Works for us.. Type of camper or set up doesn't really matter, it the accessories that you take that do.
Example, normally I take the camper everywhere, as it has everything in it and it keeps the wife happy. Weekend before last we did a boys weekend, took my son, and the tent. Did it real simple, 2 camp chairs, 1 stove a pan, Billy's, and gazebo. When packing up to leave, I was packed and ready to hit the road, before both my mates who took their campers.