It's not unreasonable, but certainly a hassle, to unhook everything and drive in the RV to get groceries, go to a restaurant, etc. And of course parking will be difficult in anyplace but a very large parking lot. Not all restaurants have RV-friendly lots, though some do. You would need to leave something in your site, or rope it off, in some cases, while you are away from it, so that it doesn't get taken while you're out. That was our experience with our one and only motorhome (18' in our case.) I would recommend a toad, although we have no experience hooking/unhooking one.
Since we sold that MH (we had it 5 years) we have had different kinds & sizes of trailers (see my sig for our current one). If we ever do get a MH again, we'll be sure to bring a toad along, unless we know it's a short campout and we don't intend to go anywhere.