I'd check with the manufacturer to see if it's okay to use the camper at all with it off the truck. Most campers it's fine but a few of the cheaper low end ones it's not. No offense but a Palomino is about as low end as they come. (I owned one.)
As for it tipping over there's no issue. For some reason many people seem to think this would be a big problem. It's not. As has been said, people get in them all the time on RV lots and at RV shows with no problems. If you think about where the pivot point is, the front jacks, it's the same place whether on a truck or not. Nobody worries if the camper will tip forward and dent the roof of the truck cab but they worry about it if it's off the truck. The weight distribution is the same, the pivot point is the same. No problem.
Yes, I know when it's on the truck there are rear tie downs that would prevent it pivoting forward. I assure that is not the purpose of the tie downs. Their to keep it from moving around when the truck is in motion.