We've been struggling with the same issue every since we bought our 2350. Being without an auxiliary vehicle is a real nuisance, and even though we can usually find parking for the 2350, it's still pretty huge for in-town-type site-seeing. And you can't just un-hook to run to the store.
I spent a bunch of money outfitting my 4X4 Ford Ranger to tow. It's fairly light and the covered bed is handy for extra gear. But I was shocked at how much my fuel mileage dropped -- 10 to 7 mpg. And the tranny had to downshift just to climb a freeway overpass. But the worst thing was, the first time I used it, some idiot ran into it! I was stuck in traffic behind a different wreck, with only one lane getting through. A guy in the good lane waved me in and then as soon as I passed him, he swerved right into the Ranger. He didn't realize it was being towed and thought it was some guy behind me trying to take advantage, so he tried to cut him off. And being in Texas, naturally, he was an illegal and didn't have a drivers license, much less insurance. The damage was minor -- below my $1000 deductible, but more than I'm willing to fix. So now I've got this giant paint gouge in my beloved 2008 Ranger. It kind of soured me on the whole towing idea. There's just a lot that can go wrong that you don't think about until you try it.
This summer we're taking a trip to Yellowstone, but we're leaving the Ranger behind. We're taking a couple of electric bikes, but mostly we'll probably have to unhook to do our sight-seeing