We owned a Winnebago ERA (Sprinter chassis) for 3 years and towed a Mini Cooper that worked our great for us. If you decide to tow or not is really a personal choice and, it seems to me, depends a lot on how you camp. For us, we were visiting kids & family during our winter trips and in the Rocky Mountains during our summer adventures. So for us, it was much more convenient to have the car rather than having to reset up camp in the dark when returning each night from visiting our kids. Also, the car was more handy to drive and park in the National parks when visiting during the busy summer months.
Now, if we were to have sat for weeks/months at a time and only occasionally needed to go somewhere, we probably would have made a different decision. In the end, it boils down to how much bother it is to hookup/unhook/tow the TOAD vs breaking camp every time you choose to go anywhere. I seems, only you folks can evaluate and make an informed decision on your question. You can always try it without a TOAD and if it doesn't work out, tow a vehicle that fits your needs. Best of luck and