The R10 and TSC3 are probably the BEST and most powerful tool you can have to do what you want done.
You can stake out without RTK, but not as precise as with it. Yet I don't think there is another GPS that will get you closer, what you were doing before is not as good as what your base rover R10 can do.
The R10 base has an internal radio, the way to use it is take your base radio and use it as a repeater, placing it on a high point which may be next to the base or miles away, also, you can remotely place repeaters, as many as you need, to get RTK and that's what I would do, each repeater can be the small type with a light battery, placed on a high point, then you can really extend your RTK into holes and valleys without moving the base unit, take them with you and use them as needed.