We travel with an undisclosed number of small rescued dogs. First with a 5th wheel RV. The furry kids see us hooking up to the 5er they find their sleeping spots and nap until we stop for fuel and/or getting rid of too much coffee. Very few campgrounds have given us any grief over the dogs.
Now we now have a Tiffin 40 footer and the dogs have adapted in short order. They seem happier as there are more places to nap than in the back seat of the truck. Saw a Tiffin in a campground with a dog and a cat. The owners made a cat balcony. Removed the screen on one window and secured a lightweight metal cage on the outside of the RV. The cat could use the outdoor "patio" at will while they were set up. They also reported no problems with the pets at campgrounds.