We have a 32' Class C and have done it several ways....in our case, no single solution fits all of our needs so we pick and choose depending on the situation....Some variations are:
1. On an 11,000+ mile trip to Alaska we did NOT tow or rent. Never had any issues. Sure, a few times it would have been nice to have a car along but we went everywhere in the RV even when we had to break camp to do so. Or we walked when reasonable. No problem getting anywhere. We moved often on this trip, rarely staying any place for more than a few days.
2. We often take shorter trips to the beach. On these we tow a car. We have a home base campground then use the car to get around. The beach areas are more congested and we tend to stay in one campground for at least 4-6 days.
3. We have rented a couple of times. It works assuming there is a rental place nearby but it can be a hassle. It can easily take a couple of hours to get or return the car. and if you want to get it on an evening or weekend, often times you are out of luck.
We find that on trips where we are moving often and/or covering long distances, it is often not worth towing the car. On shorter trips OR those where we plan to stay mostly at one location for more than a few days, it works best to tow the car...