Whilst many wouldn't dream of doing what we do admittedly I share with you our most recent trip and size of our rig just so you know anything is possible if you wish to do it. We've been driving our 37ft+ Gas MH around toadless for almost 13 years and it's never stopped us from doing or going anywhere we want (44 states, 8 provinces, 2 territories and counting)..
If a destination stop, has a parking lot that appears a little tight we'll drive a little further on and walk back a wee bit. In all that time we have rented a local vehicle twice for a few days. Once in Las Vegas, Nevada at $9/day to go explore Hoover dam and out to Pahrump (we could have just as easily unhooked from the Oasis Las Vegas CG and done the same in the Moho), and once in Anaheim when we wanted to cover a lot of ground in 3 days around Hollywood, Bev' Hills, Malibu, Santa Monica, Theme Park etc.
We don't full-time but we do go for many trips of several weeks at a time. In fact we are just back from a 6 week trip to Waterton NP, Glacier NP, Idaho Panhandle, Couer D'Alene, Spokane, Seattle (stayed in an RV Park O/N using bus into Seattle), Olympic NP including up to the Hoh Rainforest in Washington, Oregon Coast and many inland towns like Grants Pass, Bend, took the waterfall route to Crater Lake, and back to Crescent City, we even drove all the way up to the Caves National Park and all their hairpin bends, also through the Redwoods, down the North California coast before working easterly to Santa Rosa through the Sonoma Valley, Palm Springs, onto Yuma, Lake Havasu London Bridge area and stayed 2 nights at the back of Ballys/Paris Hotels from the Las Vegas Strip.
As a side note out of 43 nights on the road, we only stayed in organized CGs for 3 nights in the two national parks and 1 night outside of Seattle. We realized after the fact that we could have easily parked in Seattle with the beast but based on what we'd read and heard from many opted to stay at a CG and catch the bus this time. A few years ago we even drove through NYC as well in the beast but that was purely by mistake and not planned when heading from NJ to Long Island
YMMV, and To Each Their Own but .......... Whether to take a toad or not is purely a matter of personal preference and one's individual comfort level - YES there are others that are like us (TravelwithKevinandRuth come to mind) but we are far from the norm in going toadless to some of the places we go to. Purely sharing this with you to explain that it is possible and there are some folks doing it without issue utilizing push bikes or walking. It's not hard to organize ourselves to pick up groceries enroute, so that's no issue, and we just stop and start at what we want to see/do as we travel around.
Will we likely end up over the next two or three years with a toad, it's quite possible as we start FT RVing in around 14 months time. However, initially we won't because we haven't had any issues with the way we travel thus far, but we are cognizant maybe that will change as may our thoughts, mindsets and even mobility when the RV becomes our permanent and only home 365.
Just re-read your OP. Based on YOUR last comment about "hook ups are a priority", if you are planning on staying in one location for a few days, you could find it a pain in the proverbial connecting and unconnecting day after day unless you are within biking/walking distance of attractions or public transportation