There are light trailers that can be stored vertically to take very minimal space and can be deployed in a few minutes of effort.
The maintenance costs and effort of greasing two bearings and tire replacement is still far, far, less than the total cost of owning and insuring a pickup truck. Plus, they have the bonus of being a whole lot easier to load and unload due to the much lower bed height.
Any place you might go with your trailer to haul larger/heavier items will have proper room to park your vehicle and small trailer. After all, they are getting far larger trucks and trailers to receive and ship items in bulk. Appliance, home improvement, furniture stores and the like seldom have “street only” parking. And if that’s all that’s available, you didn’t need either the trailer or a pickup truck to shop there.