The velcro straps which intend to hold the collapsed gate together, got apart pretty quickly in my case after some use and also I found it pretty fiddely to strap it around the two rods.
So I came up with this idea. Works perfect. Just snap it in and snap it out. The snap works pretty easy (on one side, the other is designed to stay in place after it's put on).
Print with semi-flexible material with 100% infill. Soft Ninjaflex like material may not be strong enough for this application, but you may give it a try.