I vary my approach based on activity.

My on-body carry isn’t heavy or excessive. My day-hiking backpack is mostly water and a first aid kit, with other gear being lightweight and minimal bulk. In the car I “carry” heavy compared to most — I have the room, I’m willing to incur the insignificant additional hit to fuel economy, and even if I should go a year without using anything (which has never happened) I have peace of mind.