@cajun angel, I would say you may be a candidate for a small mirrorless or serious compact camera. I say may because I have to ask why you were bringing a D500 + 24-70 + 70-200 on a road trip? That's a setup that can handle all kinds of formal and sporting events, outdoor or indoor. If the answer is "it's what I have and I want great glass" than yes you may be a candidate. If it's I want to shoot high speed events and action at any moment than maybe not. Both Nikon and Canon never really supported APS-C with a selection of high quality glass. And in mirrorless the same trend seems to be happening. Here Sony is pretty much the same as well.
I added mirrorless back in 2012 when my wife and I were headed out on a road trip and the smallest setup I had was a D700 and the old AF 28-105D (we went from MA down to the Biltmore). It was a fun road trip, but it was not a photo trip. Since then I've tried several m4/3 bodies and a few Fuji as well. When I shut my business down I sold off all my Nikon gear, currently I just have m4/3 gear. Is the image quality of my Olympus E-M1 mkII and Pen F as good as the D800 or D750 I use to own? "Technically" probably not, are they better than the D70, D200, Fuji S5 Pro, and D300 I used before I switched to FX? I would have to say yes and some of my personal favorites come from those cameras so... It's also the enjoyment I get out of shooting as much as the final image. Sure my phone can take a pretty nice image, but I get no enjoyment out of using it.
Besides the question of pure image quality there is the question of function what subject you want to shoot. And in some cases the subjects you're will to miss shooting. In 2017 we went out to Seattle to visit one of my kids and spent the week in Seattle and in Portland. I only took a Fuji X70 and the dedicated wide optical converter. The X70 has a digital converter that upscales the 28mm to 35mm and 50mm, the 35mm isn't bad, the 50 not so much IMHO. So with the converter I had 21mm / 28mm / 35mm and not OIS, VR, or tripod. But we had fun and I got some images I'm happy with. But the waterfall shots were only OK handheld and we though about trying to catch a baseball game to see T-Mobile Park, but they were away. The pictures of the park would have been fine and I accepted that I just wouldn't really get action shots.
Depending on what you want, what you can live with there are lost of options and some nice deals new and used. No most of the options aren't really going to resolve not having to take the camera out of the trailer unless you go for something like a Fuji X100v or similar. But it would sure be a smaller package and I rarely need a tripod these days with m4/3.
You mentioned that you have the RX10, while I know it's a nice camera, I really, strongly, dislike power zoom cameras and lenses. I also find them slow in use, not really frame to frame. But in use including startup and shutdown. I picked the X70 after have an RX100, Pan LX10 (Panasonic's version of the RX100), and two copies of the Pan LX100. If Panasonic only made a manual zoom version similar to Fuji X10/20/30 it would be great, the other manual controls are actually a joy to use.
Anyway, here's a direct link to a few of the galleries from those two trips and two others (both with other m4/3 gear). My site is currently a work in progress, so if at some point this link breaks the galleries should still be available through the home page:
https://www.myrandomeye.com/Public-Galleries/Vacations-and-Road-Trips
