To the OP:
Unlike what everyone else here has stated, removing your camper is relatively easy and I do it occassionally. I do agree with the majority sentiment, putting the camper up or down is relatively quick and easy. However, I camp with friends and my wife and sometimes it is nice to take the camper off for a base camp while I go exploring or fishing with the truck. Most recently, I met up with a few friends to fish one section of water, but I wanted to leave the camper at camp so I could haul everyone's dogs and fishing gear in the bed. It probably takes me about the same time to unload and load my camper at camp as it does most people to pack up their tent/awning/chairs/etc.
It takes me about 30-45 minutes at home to fully load my camper. That includes jacking it up with 4 manual corner jacks, backing my truck under it, dropping it down, and securing the four tie-downs in the bed. At this point, I can do it by myself without anyone helping me back up, but for the first couple of tries I recommend practicing at home on a flat driveway. When I camping, it might take a bit longer if the ground is uneven, but it is not hard. Now, what about the fact that campers aren't designed to work off the truck? The main part that isn't designed to work off of the truck is the floor, which isn't supported. To make it easy, I bought two of these:
http://www.homedepot.com/p/TOUGHBUILT-47-in-Folding-Sawhorse-TB-C550/205068379. These are great, each sawhorese can support 1100 lbs, which is plenty for a pop-up camper. They fold up and I throw them in the camper. When I get to camp, I set the camper on a relatively level spot, slide the sawhorses under, and drop it down. I keep the jacks down to for side support, but the weight rests on the horses. My buddy and I camped this way recently and it was fine, not one problem. The sawhorses also allow you to use scissor steps if your camper has them. Also, truck campers are designed so that you can sleep in the upper bed off the truck, if you go to an rv show they will have campers off of vehicles that are not tied down to anything and they don't tip over (pop-up campers at least, big hardside models are a different story).
As for the jacks, I haven't had one problem driving into some tight spots with my jacks on. My jacks don't stick out past my side view mirrors, so if I can fit my mirrors through, my jacks will fit.
Good luck! One word of advice is to stay away from the Palomino Broncos if you are interested in long term durability. I would look at Northstars and if you are looking for used the Sunlites and Starcrafts are similar campers with better durability. The Sunlite/Apaches are no longer made but they seem like they hold up pretty well if they are maintained.