For the first year with our Axis we just rented when necessary. It worked out well--we're also vacation travelers doing sightseeing near where we camp.
Since then we've pulled a car; mostly because where we go typically doesn't have RV parking (ballparks).
For a good example of someone going toadless look here:
http://48in366.com/
She traveled all around the country visiting National and State parks with only her Vegas and a puppy (still doing it too, here:
http://thelonglongroad.com/ ).