I'm am LDS and my troop is sponsored by an LDS Church.
True, we do not stay over to Sundays. We usually pack up and head home Saturday afternoon.
Exceptions to this will be for Summer Camp that is some considerable distance away.
Last year, we went out of council for summer camp (six hours away). Officially, camp check-in began on Sunday afternoon.
This is what we did, after getting the appropriate permission from our Bishop:
Traveled up on Saturday and had pre-arranged with the Summer Camp to stay there. They didn't mind and we performed a couple of service projects (it was to be first week of camp, so we helped set up a couple of camp sites).
The next morning, we got up and got dressed (full Scout uniform) and attended Church at the local LDS Branch. After the three hours of Church meetings, we traveled back to camp and ate sandwiches.