Setting up tent in the morning - etiquette and safety

Is it acceptable to hike into a campsite early morning, setup, then hike all day before returning for sleep? Is this safe or will people steal an empty tent (ive seen abandoned camps a lot, but they might not be 5 miles away like I will be)? Any other tips for ensuring a good campsite when deep in the backcountry?

Assume it’s a popular area a mile or so off the parkway.