I'd just run a plug in the wires at the panels themselves and go straight to the battery.
Panel on top.
Wire out of panel, female plug.
Male plug to 10' of wire (depending on battery and panel location)
end of 10' wire into charge controller
wire out of charge controller into a male plug
female plug hard wired onto batteries.
When driving down the road, panel is hard mounted and all your wires are unplugged and stored inside the trailer.
This is how I am setting mine up, minus a hard mount to the roof. I'm going to run this coleman panel on the ground propped up for a while and see how it does. If I want to upgrade later, I will buy a nicer bigger panel and hard mount to roof.