and this is where we get to the whole issue of there being no right or wrong way to (in this case) travel by bike. It all comes down to what one is comfortable with and putting an emphasis on X or Y, and balancing bike+load weight with what one prefers, and having the right gearing etc for that choice and the type of riding style you are doing.
Totally agree that there's no right or wrong way. Just get on a bike pedal somewhere one day and then pedal somewhere the next day.
If you have to lift your bike over stuff often
BUT I do lift my bike a good bit because I wild camp and do lotsa backcountry, AND a hot meal is my reward
Not a concern for me.