Same experience here...same cassette type on two different wheels (one for outdoor riding, one for indoor trainer). It's never "just right" on one of the two. Figuring I don't feel like messing with adjustments each time, I adjusted my RD to work well with my riding set and leave it be for my trainer wheel. It drags a tiny bit shifting on the trainer but nothing overly annoying.

As for swapping the cassette each time...to each their own but there's no way I'd want to do that ever time I was to swap wheels. For my setup, one extra 105 cassette didn't break the bank...