Like others, above, we've done it both ways. Now, if we need a vehicle, we rent one or take a cab and on a few occasions, a local bus and, all things and expenses considered, we think its about a break-even issue. Not having all the issues of hooking up a toad, at our ages of 73 & 70, makes RV'ing much easier. And, some RV resorts and campgrounds offer shuttle services or some attractions that you want to see will also provide shuttle services that are not expensive. A lot will depend on where you go and what you want to do. IMO, I'd say try it for a few trips without a toad, then decide if you really need one.
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