We are tight on capacity as well. On long travel days, a quarter tank is plenty for us to do the essentials for a day or two. That's how we travel. Once in the region we are staying in, I will travel with full tanks. As you do it more, you get a feel for when it is smart to be full and when it isn't necessary. Interstate travel, not necessary.
I never travel with zero water.
I realize accidents can happen anywhere, but if I am overweight, I'd rather be so on a country road at 45mph than a busy interstate at 65mph.