Gotta agree with Michael on the cooking part, too!
(Gosh, we would travel well together, I think, Michael. LOL)
In my experience, it takes far less time to prepare your own meal than it does to sit in a restaurant and wait for your order....unless you're eating fast food, that is.
Sometimes when on caravans with other people, some will want to stop for lunch at a restaurant. If the weather is good, the idea of sitting in a restaurant after sitting in the car, drives me crazy. So I might go to a nearby park to meet up with them after they're done with their meal. I have found that I can usually prepare my meal (whether something cooked or just sandwich/salad type things), eat, clean-up and put-away, and have a nice walk and explore a bit in the same time that they've just sat there waiting for their meal and eating. And I think I've usually had a better time in the process.
Same applies for at night. I have often gotten out the stove, got dinner cooking, put up the tent, and by the time I'm done with the tent, dinner is ready. Pretty simple really.
I'm also like Michael that sometimes the miles I'm traveling that day will make me get a hotel instead of camping. But that is purely because it is tough to set-up your tent in the dark and I want to be considerate to other campers and not wake them up with my late-night set-up. Although there have been a few times, very few, when this is when I've decided to just catch a few hours of shut-eye in the car at a truckstop or similar location. I have never done this when my husband is with me because he just won't sleep in the car. While I can sleep anywhere, I don't think it's as restful either but, when traveling solo, it has been an option for when I'm traveling until late at night. I don't recommend it as a regular nightly routine though.