We have a larger one that we put on the explorer a few times per year. I store it suspended from the roof/ceiling of a garden shed - Much like you would suspend it from the ceiling of a garage. I bought a used canopy for my truck, so we use it less frequently than we used to. But after having one, I also wouldn't sell it, because I never know when we will needed it next.
Fuel economy goes down by about 1.5 miles per gallon. So it still does 1 - 3 miles per gallon better than the pickup, when both are loaded up with the dog, children, stuff, and embracing a head wind.