I travel with a 24' class C without a toad, occasionally with a motorcycle. I usually do my restaurants and sightseeing between campsites, not from a campsite. But certainly that is possible. Especially if you just hook up the power and get a site which is level enough and don't need to deal with that on every excursion.
Your idea sounds fine. What I'd do is look into two options: One is to find a campground within walking or biking distance to the attractions you are interested in. Second is to investigate Uber or one of the ride services available these days. Paying for a ride to these spots, in the overall scheme of things, is not a big cost. You could even consider a rental car if you're staying somewhere a while.