That is how I do mine...no opening/closing doors/panels/etc..., no crawling under the car. Just plug and forget, un-plug and drive.
I'd forget and drive off with it attached bc I get so excited to go for a drive. With the cigarette lighter one I always run it over the steering wheel.
I've brought this up a few times before, but I think it wise to repeat it periodically. If you are right there at the battery terminals hooking up a hard wired maintainer, buy a length of braided ground strap and install a redundant ground in parallel with the existing ground. There is a convenient threaded hole in the chassis for the chassis-end of the strap. Be sure to clean the paint from the chassis for the new ground strap bolt. Our aluminum chassis has been known to cause a poor ground over time.