Sabluka, those are the exact reasons we switched from a Class C to trailers (of various kinds) many years ago. Having to "uncamp" to go get groceries or firewood, or to go sightseeing, was a definite pain, and our rig wasn't big enough to pull a toad of any size. You're right on the money.
Trailers of course have their own drawbacks; hitching and unhitching can be a bit of a pain too (especially if you are doing it by yourself w/o a companion to help), and of course you have to stop & pull off the road if you want/need to access anything you keep in it while underway. We have been content with our decision, though; for us it has made more sense to pull a trailer.
As for economy, you may get better mileage (slightly) pulling a trailer with a truck or large SUV than you currently do driving a motorhome. Only slightly - and of course when you're using the TV (tow vehicle) for a daily driver, it will get worse mileage than a small car would. It's probably a wash.
2020 Toyota Tundra CrewMax 5.7L V8 w/ tow pkg, Equal-i-zer
2020 Lance 2375