Can I avoid carrying all these documents while driving?

Yes. As rules, there is a provision of getting MASTER PASS for two/three/four wheelers from RTO which is a proof that the driver has all valid documents i.e. certificate of registration, taxation card, insurance certificate and driving license. In case one is carrying Master Pass he need not carry above documents. For transport vehicles like buses and lorry etc SPEED PASS can be obtained from RTO which is a proof that one has valid registration certificate, taxation card, fitness certificate, insurance certificate and permit etc. In case one is carrying Speed Pass he need not carry above documents.