You don't have to have a towed vehicle, especially with a B. It is just more convenient that way, for extended stays. You can reduce your hookups to just the power cord, and some people do without that, but not for long stays.
Since you are talking about a B, if it is a short one getting around and parking will be no more problem than with a full-size SUV or crew-cab pickup truck. My daily driver is a full size van. However, there are places where it is easier to park a smaller vehicle, and in large cities where parking spaces are priced by size, it is cheaper to park a smaller vehicle.
For most RV parks, in and out is not a problem and they will work to accommodate you if you ask. I've been in only two RV parks that required me to be escorted each time I came it.
For campgrounds, where spaces might not be reserved, your problem will be keeping possession of that space while out. There are different rules, customs, procedures at different campgrounds. For some, the flag or ticket on a post is well enough honored, in others you might have to leave something blocking entrance to the campsite. But it is unlikely you will be having extended stays in campgrounds, since most have a short limit: 30 days, 14 days, 3 nights, etc.
Even with a 30 foot C, I've found that towing a vehicle is more of a convenience than a necessity, but I do tow one for extended stays where I need to get out and around. The more complex your camp setup, the less convenient going in and out becomes. The larger your motorhome and the more congested your driving environment, the more a towed (or rented) smaller vehicle becomes a necessity.
Tom Test
Itasca Spirit 29B
