Toad-equipedness vs toadlessness is a personal preference issue. To me it is a sacrifice to tow anything including initial investment in towing equipment, effort to hook-up and un-hook and reduced maneuverabilty while hooked up in gas stations and parking en-route. We have friends who were social campers who did a lot of driving around in their Saturn with friends after parking their rig.
We have never felt a strong need for a toad car to explore local sites and didn't mind occasional 5 minute disconnecting activity to take our 27 footer touring the surrounding territory or going into town. Don't leave valuables behind though.
There are other options available too. Such as leave the toad home if you won't need it, rent a car in a nearby town or delivered to your campsite, take the shuttle bus into Boston,etc., from the RV park.