If there are specific things which you find stressful then address them one by one. The Caravan Club (and possibly others, I don't know) do towing courses which might be of interest. If you find getting the van onto the pitch difficult then maybe investing in a mover is a good idea. Awnings ... it took me a full year of experimenting with the best way to put it up.
The best de-stressing tip is probably don't travel too far, and aim to arrive early afternoon. That way you can park up, plug in, have a cuppa and then take the rest of the jobs a steady pace. Too often in the first year we were too ambitious and arrived at 6pm, so I'm trying to get everything done ASAP while the boss is champing at the bit to get the dinner on and the kids & dogs are starving.