Having traveled many years in a large truck camper with exactly the same issues you are concerned with - yes with planning you can do it.
As others have said, don't hook up unless you need to. We also found that we tended to do groceries, sight seeing etc. before going to the campground. Also remember that if you are going out for some reason, why not just pull through the dumping station on your way out and forget the worries of having full tanks. We never use public showers - that is why we have an rv with a nice bathroom.