Scamp is now offering a customization of a commonly available hitch, which attaches to mounting rails in the truck bed. It is as easily removable as any typical bed-mounted removable hitch... or even easier, because with just a ball instead of the usual fifth-wheel head, it will be significantly lighter.
You can custom-build (or have custom-built) a similar hitch using a different bed-mounting system if you prefer. A few Scamp owners have done this, and presumably served as the inspiration for Scamp's new product.