I thought about rigging a pulley/crane for years, but I've only really put it on-off routinely for maybe a 2 year period. The rest of the time beforehand it was on permanently, and now it's realistically off permanently.
It's easy to undo the headache rack with 4 stainless bolts, and myself and 1 other friend can load thr canopy on/off as needed if there is a particular trip in mind.
But honestly, with the trees around here... I keep it off so it doesn't get absolutely wrecked and/or smash the glass.