too rent a car or tow a car

Thanks for the question, we've wondered the same and have driven without a toad or rental for a couple years now. Although we continue to drive the RV everywhere, if we spent a few days in any medium city (Miami, Denver, Philly), I think Lyft would make sense as an option to renting and we could take day trips with our 30'. Large cities I'd prefer to be driven than pay daily parking, and smaller cities or remote areas, I have no trouble driving the rv.
I think it comes to your lifestyle- we are now considering a jeep as a toad, to be able to do some off roading.