Before customizing my rear springs for the camper which would probably give me a ridiculous rake sans camper, I looked at these
bracketless jacks as a possible option for removal. The clamps are super easy to take on and off, but I've only done that for installing a bedrug, I haven't removed the camper.
OVRLND installed mine with a auto lift and some 2x4s. I could see jury-rigging something similar without owning an auto lift, maybe some 2x4 frame that I can slide supporting boards underneath the camper and pull the truck out. For my Gladiator I've found the camper increases utility of the bed, I would only take it off for the 2 mpg I lost or to do trickier trails where height or extreme angles are an issue. Handling is excellent and not noticeable on my truck.