We got our B+ just to travel w/ two dogs, then Katrina made 4. One just died, so now three shelter mutts!
When we got the two young ones after Katrina, we had two large soft kennels that took up the dinette-made-to-a-bed during the traveling part of an outing. At night the kennels were folded and set between the dinette and rear of the drivers seat. We don't need the kennels now that the dogs are settled down and traveling well, so they are stored under the sofa in case we need an emergency motel with big rules.
Dogs make good people.
Martha and I are 5'11" and 6'3", so the kind of space Cheeze1 is showing us is very enticing. It's like having a slide w/o the weight penalty.