I start EVERY trip with full tanks of everything (well not black/grey tanks).
One of the advantages of a motor home is having EVERYTHING with you.
Round numbers, the weight per gallon of water is 8.3, diesel is 7, gas is 6, and propane is 4. Would you go someplace and start out worrying about how much diesel/gas is onboard or how much propane? Do you worry about dragging a 3-4000 lb toad?
In my case, I don't have money to burn, but on the other side of the coin, if I was going to worry about mileage, I shouldn't have purchased a 30,000 lb motor home in the first place.
To me, it's all about comfort and peace of mind. I am a full-timer and I ALWAYS keep fill fresh water tank full (when ever there is municipal water available), whether I am getting ready to travel or parked for a month or two. Some of my "neighbors" make fun of me, until the RV park loses water . . . I still shower and flush while they mumble.
So it boils down to what you are doing, what comfort levels you want, and what contingencies you want to contend with.
The important factor is IF you are approaching max gross weight, then you should evaluate everything you carry. Otherwise, fill your fresh water tank, fuel tank, and propane tank and go have fun!
Just my opinion and experience, which I am sure some will disagree with.
Stik