Our long-haired fluffy white cat, named Fang, camped with us all her life. On her last trip from Vancouver Island to Yukon she was 19 years old and enjoyed fifth wheel living.
While tent camping in the early days, we had a cat carrier/kennel for her but rarely used it. She wore a cat harness and was always connected to a leash other than when we were travelling inside the truck. Our truck/canopy both had pass through windows and she would choose where she wanted to be while we drove. When we overnighted in the tent, she curled up wherever she wanted, usually inside my sleeping bag.
In a campsite she would be tethered to a tree, the truck or a picnic table. Often she simply napped in the sun but she sometimes chased squirrels up a tree so I added heavy duty elastic to her tether so there was some give when she reached the end of the line rather than an abrupt stop.
She walked on leash, as a dog would. Sometimes other dogs would get curious about her but she always stood her ground and this perplexed dogs so they left her alone. When our dogs were with us, I'm sure we made a fine sight strolling around campgrounds.
Litterbox was her preference and we carried one in the canopy for her and in the fifth wheel. In her later years we also had one inside the truck as she needed to pee more often.
During the day when we were on the road, she learned to eat/drink when we stopped for a break, or wait until the evening.
She figured out the routines after about three days and then just went with the flow. Fang was a great camping kitty. With the fifth wheel and her old age, we often chose a campsite based on whether she could lay in the sun on the back of the couch inside!
Her first trip in 1993. Our Norwegian Elkhound was also on this trip.

In 2007 she was 18 and taught our new rescued dog, Jake, the camping routine in Yukon.

Her last trip in 2008 when she was 19, still guarding the campsite
