It's not that bad. I have a crew cab (2022) and as such it has to be insured commercially but it is taxed privately. The insurance allows for private use. I think my insurance came in at €384 this year. Private tax costs me €710 annually (as opposed to €333 for commercial). Private tax means I am fully legal and can carry passengers, go to the shop etc. without issue.
I was able to tax it online when doing it privately. If I had wanted to tax it commercially, I'd have had to attend the tax office in person and prove that I was entitled to it, which, based on all the documents/proof they'd require, I wouldn't be entitled to it. I knew that as I bought the vehicle. I was fully aware of what private road tax would cost me.
And I'm happy in the knowledge that I'm fully right with road tax, insurance etc. Nobody can accuse me of doing wrong.
I'm paying, roughly €32 extra per month for private road tax. Is it worth it? Yes.