We have a Class C and do not tow. We both drive and do all the set up and take down chores, including dumping the tanks.
We had a situation in our family where an Uncle got sick while in AZ. He had to fly back to BC, Canada and his son in law flew down to drive the rig back. The Aunt had not driven any vehicle for over 20 years.
I think age may have something to do with it. And whether or not both people in the couple enjoy driving.
If we started to tow a car or traded the Class C in for a TT or 5er, we would both drive it.
This year will be the first year our 16 year old son drives the RV.