We had a 25foot class C for 2 years and didn't tow a vehicle. Put around 25000 miles with it. If we were going to be in a place for a time to sightsee, we rented a car. The last year we had the Class C we started towing. We then went to a Class A and tow a vehicle. Although it can be done without towing if you have a small C, we discovered that it was too much hassle to always have to drive the C wherever we went. We would never not tow a toad now.
If you never have a tow vehicle with you, I guess you would never know just how nice it is LOL. Once you start you will never go back.