We will absolutely be filling up the pools this summer!! We have a large 8000 gallon one, that is only used for older kids when there are 2 or more adults to supervise and all kids have appropriate swim and safety gear. And we fill the little splash pools for the small kids. We also use the sprinkler quite often. I am lucky in that we are on a well, so I don't need to worry about a water bill. Phewf!
And as much as I understand the safety concerns, I think it's like that saying about guns.... "Pools don't drown kids, a moment of inattentiveness drowns kids". I am vigilant about making sure there are 2 pairs of eyes at all times.
Perhaps if you are worried about constantly filling the pool; you can go and buy a tarp to fit over top. Then just weigh it down, or bungee/ peg it down. It won't be perfect, you will still have junk get in (just from using it!). But you may be able to get away with filling it fewer times?