I'd say most hard sided campers that leave them on do so because they don't plan on leaving the pavement. Do you plan on leaving the pavement? If you do, I'd recommend taking them off for sure.
And welcome to ExPo.
7.3 Super Duty, 4X4, Ext Cab Shortbed, 6 Spd Manual. Hawk FWC
2006 Jeep Unlimited
Lexus is250 AWD (Hers)
1980 HJ45 Diesel LBP (Sold to some dude in Utah)
1984 Troopy, ExPo White (Sold to the same dude in Utah that bought my other dream truck)
Kimberly Kamper (Sold to the Toyota Shaman)