We have had both, and some others.
Some of the new 5'ers have auto leveling systems but for those that don't leveling is a chore. You have to carry blocks, wood, ramps, whatever you like to level. You determine where you need the higher pieces, place them on the ground on the outside of the tires, move the 5'er back or forward, place the levelers where the tires are going to be, then move the 5'er on to the levelers. In the MH, push a button and you are level.
Hooking and unhooking a 5'er is more cumbersome than unhooking a TOAD. In the 5'er, get out level side to side, put the front jacks down, lower the tail gate, pull the king pin rod, get back in the vehicle and pull forward. Back at the 5'er now level front to back. In the MH, pull a few pins to unhook the TOAD. Push a button to level. Reverse the process to hook up. In the MH, unhook the water, electric and sewer - if they were ever hooked up, push a few buttons and drive away (with the TOAD hooked up)
Of course, with a 5'er this is all done in whatever weather is available. In the MH you can start the generator 15 minutes before you arrive and have the AC running during your set up and if the weather is inclement you don't have to go out and do anything until the weather clears.
In a MH there is dead space between the front seats and the living area, even when you turn the chairs around for entertainment the dead space is still from the back of the chair to the windshield. I don't mind, but just something to think about. The 5'er uses all of the space.
For traveling we like the MH. For living long periods of times at campgrounds we would like to have the 5'er. As for pariking a truck, we had a King Ranch, Crew Cab, Long Bed, Dually with 4 wheel drive. If a big car can park in a spot, so could I but it took a few more turns of the steering wheel. With the MH you take the TOAD to do the shopping.
The maintenance costs on a MH are higher than the maintenance costs on a 5'er, even considering the vehicle that pulls the 5'er.
For 90% of the time I'm happy to have the MH, but there are some times I would like to have the 5'er back, and the truck.