We have a 24' class c . We sometimes do not tow the car. 50/50.
For short planned trips where we know where we are going to be, determines if we bring the car or not.
When we go to state parks or boondock w/o hookups, we tow the car in order to use it to refill our 4 , 7 gal water jugs and take side trips to sightsee and visit friends/family.
If we use campgrounds with hookups, we leave the car at home and pre-plan for food. We tend to cook at the campsite and not go out to eat.
Using the rv alone has never been a problem. We get into all parking lots just like the delivery trucks do. I try to find a spot out of the way and walk the extra 300 feet to the store. I kill 5 calories doing that you know ! Each way !
If we were doing a long trip where we didn't know where we were going to park/camp then we would tow the car. It carries a lot of extra EQ and supplies.