There have been some good recommnedations, but I will stick to my initial posting. You have to decide what is the amount of driving you can do and want to do. To be honest, it does take more concentration pulling a trailer or drinving a motorhome than it does (or should) a car. But if it is wearing you out physically because of trying to keep it straight on the road, then there is another issue. Whether its something mechanically, a wrong setup or inadequate setup.
As one mentioned, there are destination trips and sightseeing trips. If your goal is one or two places and to get there in a short amount of time, then you will want to put your blinders on go. Get up early and leave. Stop around supper time or maybe just thereafter. Consider stops an overnighter. Do not setup camp. Unhook if you have to, but if you don't have to, then don't. Plug into electric and water if necessary. Don't hook up a sewer hose unless you need to dump. If there are bathouses available, consider using them. The less setup you do, the less time it will take you to get up and go the next morning.
Now if you want to sightsee along the way and take it leisurely, then do the opposite of what I just said.
We drove from our home to Destin, Florida a couple years ago. That was driving the F250 we had, pulling an 11,000 lb 35' TT. Total driving was about 600 miles. It took us roughly 10-11 hours driving. The worse part was the 2 lane roads. We drove there in a day. Got set up and enjoyed a nice dinner out. I did sleep good that night, lol. On our way home, we went a different way. It added about another 150 miles and about another 1.5 hours to the total time. We did decide to stop about halfway and spend the night. To be honest, it didn't have any different physical toll on me. If I can make it to a destination with a little further drivingg, and I have daylight left, then I would rather do it and get it over. Then have some time to recoup. Whether you drive 400 miles or 600 miles in a day, there's not going to be a whole lot of difference in how your body will feel. At least that is how it affects me. Everyone is different.
We are going back to Destin this spring. We are breaking up the trip there and back into two days. Not for the distance, but because of available space at the state parks we are staying at.
Brian
2013 Thor Chateau 31L