Any time we take the RV out both dogs are there in their spot. the 80 lb Sheppard Salem, between the the seats and the 12 lb Rat Terrier, Katie either under my DW seat or on the dash watching where we are going. they both have their own RV stuff toys, food and water bowls and beds, just as we do which stays in and are only used in the RV.
We tried taking the cat but she gets car sick, so she gets to sleep over with her sister next door.
The Terrier has always loved to travel, the Sheppard not so much. It took lots of love and patience with her and lots of very long walks.