We love our Chihuahuas and always take them with us. They love riding in the truck and are not a bother. They are so used to the camping that anytime they get near the camper, in the back yard, they want to get in it.
We plan our days at camp so that they are not left for long periods, just in case there is a problem with A/C or some other issues. We do have a nice, large portable cage that they will habitate while we are gone, just in case there is an "accident" but that is almost non-existant.
We love our pups and they love us back and are better behaved than some children. Yes, we do have to make some consessions and considerations, but it is well-worth it to us.