I do all my paperwork. Doesn't take much time IF you do it everyday. IFTA record keeping is the biggest time hog.
Contact OOIDA. They can help you with ideas on how to do it yourself. There really isn't all that much and once you get on a schedule you'll find it's pretty easy. Just don't fall behind in any of your reporting. Stay up to date or some of those government agencies will make you wish you'd taken up chicken farming instead of trucking.