I think most of the issue is you just don't want to store it. I can also understand the city having an ordnance against have an RV stored in the driveway, many non RV's fine it unsightly.
At our previous house we had no space to store, but had street space to load unload on the street in front of the house. We downsized into a town house with no real street space in front of it.
We have always stored, and we keep the 5er ready to go all the time all supplies, staple food, propane tanks full. The storage yard is about 4 miles from our house.
I don't have an issues doing normal maintenance in the yard. Installed shocks, repacked bearings, and any think else I need to do.
Heading out we simply swing by the night before and start the refer, the day of departure load all the perishable food in a tub, frozen food in a freezer bag, maybe a small stack of DVD and the dogs beds and head for the trailer. It isn't really that much trouble.
We have gone from me leaving work at 2:15 pm one Friday afternoon swinging by the house (also about 4 miles) air up the rear tires on the truck, install the hitch, load the tub of food, get the dogs and bed, and DW, go to the yard fill the fridge, hookup, do a double check walk around, and was on the road at 3:30 pm.
It is something you just get use to, i really don't see as a inconvenience.
Storage yard has on site 24 hour watchman, 24 hour video severance, owners live on property, have several cats and coded gate.