I do it often and I've never had any problem. When I am on the road and I plan to spend only a single night and leave early, if the campsite allows it, I'll leave the truck hooked up then also. Makes packing up to leave much easier.
Mike, Sue, Sissy and Little Man
2015 Ford F350 Lariat FX4 6.7 CC DRW
2015 Eagle Premier 351RSTS