I do it on occasion, I have a couple of state parks within a reasonable distance. Last one I did was while working 4 hours from home. Took my R20 and spent a short weekend at a park about 35 miles from the hotel I was living in at the time. I can pack everything I need for a weekend in a large saddle bag and on the rack. I have also done several B&B trips which aren't really a S24O but fill the bill for getting away.
Aaron