We have had both a 190P and 210P and traveled with dogs in both units. The 190P, IMO, is a little easier to drive/park because it is slightly smaller and the sides are not flared. That being said, no way would we want to go back to the 190 after having the 210. The extra room and storage is just too much more. That 5 cubic foot frig also comes in handy for us, as well as the bath is larger. We never stay in a motel and we normally dry camp.
We have had excellent use and service from both of our Roadtreks. I service all the rv stuff myself and have not been back to a rv dealer with either unit. We currently travel with a 50 pound dog and it is no problem at all for us.