Daily driver here!
One of the conditions I put on myself when we got serious about looking at SMB's was that I would take it to the closest metro line and start riding the train into work. Didn't take long to get used to the new routine.
The wife and I are comfortable driving it around town and I figure I'd rather address any maintenance/mechanical issues that crop up during day to day use as opposed to possibly having to deal with them while on a trip.
As a result, i dont give it a second thought driving a big vehicle around town, traffic and parking be damned!
Plus I love all the thumbs up I get from the old farts that really appreciate the 4x4 logo on a camper van