I do it all the time, at just under 30 feet, it takes planning, but also depends on what you want to do.
I don't use the RV to visit major cities or their residential suburbs. Most of my travel is between the Appalachians and Sierra Nevada, where businesses, farmers, and ranchers routinely bring large vehicles into town, and OTR trucking is an important part of the overal traffic, so parking, gas stations et ak tend to be designed to accommodate large vehicle combinations in town. Frequently visited tourists sites have RV and tour bus parking areas.
If I am going to someplace for an extended visit, particularly to a metro area but also just to a campground or park for an extended stay, I will pull a toad. The RV gets parked for the duration, the toad gets used to get around.
But for the type of travel where I am moving every day, I like to leave the toad at home, because it makes the getting around problem much more difficult. It almost forces one to park the RV for the day and use the toad, because the combination is about twenty feet longer and it can't back up.