when we started it took the dogs awhile to get comfortable with the camper. ours is stored at home so I was able to let them run in and out when I would stock or work on it. we would have happy hour in the camper on the weekends and they would hang out with us, it took then a little while but once they figured it out they were fine.
the dogs we have now we crate when we leave and also set the temperature so they are comfortable. time to time I will ask a neighbor if the dogs barked, usually the don't- I just want to be a good neighbor.