With us, it depends. The MH lives in the driveway, and has all its own "stuff" -dishes, toiletries, linens, etc. - and is kept ready to go, we just add food and clothing, so we could be out the door and on the road in under an hour, easy (although we just set up the MX-5 for towing, so it will take a bit of practice until hooking up the toad gets smoother and faster).
However, on occasion, we take Moby to historical recreation events, and that's a whole 'nuther story -we pack an outdoor kitchen, different chairs, extra tables, a huge sun-fly with wooden poles and ropes and big iron stakes, appropriate historical clothing, extra table linens, as well as traveling clothes and food. Packing for that is a several hour operation the day before we leave. To save packing time, all of our plates, cups and cutlery in the MH were chosen to be plausibly "period", and useful for both regular camping and medieval events.
More often than not, we pack everything up the night before, and Mr. M picks me up at the office as soon as my shift ends, which allows us to miss the worst of the Friday traffic woes.
Just the two of us, and Falkor, the 2015 Ford 350 Dually, pulling a 2016 39R12 Vengeance Touring Edition Toy Hauler, with a Can-Am Spyder RT