What I've done is carry some 5 foot masts sections that you can find at most Lowes. Put a wood board on top, and hammer the board which then puts the mast section down into the dirt. When done, pull it up, pack the hole and you're done.
I live currently in an older 1994 class C. I have installed an iCom IC-735, and an IC-2200 just by the dinette.
Running a mobile multiband on a mast off the back of the RV with some ground radials dropped on the ground while parked. It works but is a pain to change bands.
KC0NIB