We very rarely travel on interstate roads to the places we camp and we carry a 5 gal can of diesel on most of our camping trips. It's a super simple thing to prep and carry in the bed of the truck.
I've used it a couple of times when the GPS said to "turn here" to get to the filling station that ended up being boarded up. and another time when we were having a really great conversation with the family, lost track of the time and distance and the Low Fuel light kicked on. I'm really glad I had the extra 5 gallons. That was the "old" truck with the 24 gallon tank and the "new" truck has a 34 (or 36?) gallon tank .. I still carry the extra 5 gallons though.
After parking the rig (when we get home), I dump the 5 gallons into the truck and say thanks for the piece of mind!
Just my 2 cents.