Memberships can seem very tempting at the front end but .......
As 2gypsies says, it really depends how you travel, how often and realistically what use you will get out of any membership. We've read over the years of many at the front end getting into all sorts of memberships and then dropping them down even as FTers to maybe a couple or three. Probably best to see how you travel and then as and when join where it would maybe benefit you. We've found America the Beautiful Pass at $80 when visiting more than 4 National Parks last year (bought upon entering Glacier the first park) beneficial as well as a state pass (Washington/New Mexico) if staying in the area utilizing related items has saved us some bucks. Otherwise we generally play it by ear, pay as we go being avid dry campers/boondockers primarily by choice.
For us it will be Escapees and Passport America even as Fullimers and for towing we have for many years belonged to CAA (AAA USA equivalent), that's always worked well for us utilizing about a half dozen times in the first couple of years and once again 3 years ago with no problems at around C$170/year this renewal which also covers any other vehicle hubby is in should it break down.
That's our two cents FWIW, but YMMV.