There is no right way. It is going to be dependent upon a lot of factors:
Size of RV - under 25ft is going to be much easier to stop around town for errands, etc.
Camping or RVing - if you are staying at primitive campgrounds without hookups, then it will be easier to drive out in the MH; if you are hooking everything up, then it won't be.
Housekeeping habits - if you tend to put everything away after use, then it will be easier to drive out in the MH; if you have lots of stuff that gets left out while parked, then it won't be.
Habits - if you wait until you're ready to dump to attach the black water hoses, then it will be easier to drive out in the MH; if you attach the hoses as soon as you park, then it won't be.
Length of stay - if you are only staying at a location for a couple days, then there won't be a lot (or any) grocery trips, etc.; if you're staying for more than a week, then you'll potentially have more trips to make.
Destinations - as some have mentioned, sightseeing in a NP with the RV may be more difficult and you may not be able to easily access certain areas; a toad eliminates that difficulty.
In the end, it's just learning your style and habits and doing what best works for you. If you're not sure, try without for a while and see how it works for you.
For me, even at full hookups, I only hookup electrical. Outside the RV, I may only have a chair or two. My clipper is only 20.5ft. I put things away as soon as I am finished with them. My destinations are casual camping and hiking, so I'm not driving in and out multiple times a day (maybe I'll drive out to a nearby trailhead for a hike). At this point, a toad would be more of an inconvenience than not.