A fair question. When I pull the rear wheel off I shift to the smallest sprocket, loosen the skewer, pop the wheel forward in the DOs, then while lifting the bike pull the RD back by the parallelogram until the FW clears the guide pulley. The allows the wheel to fall free. Putting the wheel back in is pretty much the reverse.

Hooking the chain on the hanger requires that I get a hand greasy (I've tried moving it with a tire iron but I must be clumsy, and then the chain has more tension and less clearance.

The only real problem I usually have is the chain falling off the chain rings when I lay the bike down. I sometimes end up with a greasy hand anyway, but I'm I'm smart I don't.

Maybe I need to rethink my technique. But hey, I've had lots of practice!