However, you may have the ability to avoid or rather reduce your taxes on RMDs (advance roth conversions, etc.) and therefore that’s the component that’s “incremental” and not overblown.
The IRS owns ~25% of what is in your IRA. They fully intend to get it, and are patient as to when they get it. Every withdrawal you make, whether it's an RMD or a normal withdrawal will get taxed. Doing ROTH conversions just means you pay the tax now rather than later.
Even if you could manage to avoid RMDs entirely or minimize them, your heirs will be paying the tax. And they have to empty the IRA in just 10 years.
Yes, the fears of RMDs are overblown, and they are not really something to worry about.