We have a tow vehicle (2002 Pontiac Grand Am) and tow it behind the motorhome sometimes, but also leave it home sometimes.
If we are "sightseeing" the countryside, wherein we move to a different location every day, or every couple of days, we often leave the towed vehicle home.
But if we go to one location for 4 days or more, we often take the towed vehicle.
Thing is, when we are on the move, the towed vehicle almost becomes a hindrance, and we can easily go to a grocery store or pick up any other supplies or sightseeing side trip each time we move.
But when staying put for awhile, it is awfully convenient to have alternate transportation. Consequently, due to our current habits, we tow our vehicle about 50% of the time.
Earlier this month, we went out for 9 days. Stayed one place for 3 days, and another place for 6 days. We towed our Grand Am on that trip.
But next week, we are going out for 7 days and will visit 3 different locations. We will be leaving the Grand Am home for that trip.
And there are other options.
Depending on your physical capabilities, taking a couple of bicycles puts you within a range of how far you are comfortable in riding. Another option is to rent a car when one is needed. Enterprise, for example - will often deliver a vehicle to you - but they are often not open on weekends, so advance planning is wise.
My advice is try a couple of trips without a towed car and see if you miss it. Especially since you probably don't have the ideal towed vehicle, you are going to incur some expense in outfitting a vehicle, so make sure you really need one before making that commitment.
But since you are retired, you may find it easy to downsize one of your vehicles to something you can easily tow. We're retired as well, but we only put maybe 1,000 miles a year on the Grand Am outside of the towed miles it incurs.
The only thing that works on a RV is the owner...