Dave,
Jamie is right about it being a bit large to drive and park around town like a van plus the time and extra effort it would take to break camp if you are all connected up, slide out, etc. I've done the same as he has mentioned about renting a car to drive around and sightsee while camping for the convenience of doing so. I'm undecided about whether I will ever pull a car with mine. I'm enclosing a picture that was taken while "camping" at a Wal-Mart the first night after picking it up. You might have to zoom in to see the space it takes (2 parking spaces).