Our cat loved to be outdoors while camping. He was always tied up and had his own chair to sit on next to me. Whenever we entered the TT we were always ready to grab him in case he make a break for it. He never did, but we were always ready.
The only problem was when we went for a walk and he decided he had to use his litter box. He would make a mad dash for it with me running behind him, clutching the rope.
We always worried about him getting out but because he was older when we first took him camping he thought he could not go out unless he was tied up.
