What's the Name of That Book??? discussion

I'm trying to remember a children's science fiction chapter book or YA book, published before 2010. It was likely a children's book I read in elementary school in the 90s, although it could have been a little later, YA before 2010. It was in English, probably American or could have been British. It could have been older than when I read it.

The story is set in three different time periods, and the future time period has time travel. The time traveler(s?) visit current or recent time - probably the 90s, and also the past. I'm not sure how far back it was, maybe 1600s. I think the time travel didn't work spatially. The space ship was stationary, I think they had camouflage or cloaking so the ship looked like a hut in the past, and a tent or RV or something in the present. The story jumps back and forth through the time periods, but I think it follows the time travelers linearly.

I remember the characters talking about how they needed to be very careful traveling to the middle time period because people would recognize the future technology, but could be fairly loose going into the past because they could wave away a handheld device as a "scrying tablet" etc.

I don't remember the plot very well. I think the time travelers were scientists, maybe historians. I think probably a young girl finds out about the time travel and gets brought to the future.

I remember there was an authors note at the end of the book talking about the names of the characters - they were made up but sounded like common names.

Thanks for any help!

Extreme long shot, but Aliens in the Family by Margaret Mahy has some resemblances to this.