Class C or TT to RV with cats? Crate or no crate?

Our cats traveled in the truck with us. He usually laid on my lap. Sometimes he would lay or sit on his blanky in the back. Any time we drove thru woods he thought we had arrived at the campground and was ready to get out.
He always had his leash on when we traveled so we could grab it if he made a run for it. He never did but we were always prepared. And we only had one cat at a time so there was room on my lap.