My wife had a dog as a young girl. I never had one. As a married couple we never had a dog for the first 20+ years. Didn't particularly want one. And our son had allergies which pretty much ruled it out in the early years anyway. Then one day a client of my wife's handed her a small bundle of fur and said it is yours if you want it. Well that dog slept with us the next 16 years. And we have had two more since then, one at a time. And the dog goes with us every time we take the RV out.
It does sometimes take some planning. And there are some things you simply cannot do. But overall we do not consider it a problem.