How old are the kids? If they're early teens they can help with anything needed. Otherwise, there are many, many solos using toads by themselves. It's not that hard to hook it up or disconnect. It doesn't require a lot of strength.
It is not difficult at all to drive the RV with a toad. In fact, you won't even know it's behind you as it tracks effortlessly behind your RV. You just have to keep in mind about doing wide turns and keep your overall length in mind. You'd get the hang of it quickly and you won't even think about these things anymore.
Since you want to camp in the boonies I really think a toad is necessary for you. Siteseeing will be easier and you can think of it as an emergency vehicle in case of breakdown with your RV. I think you'd love it!