Since you asked, 'What do you do?' I will tell you what we do. We had an HD Suburban with the 8.1L that served us beautifully for quite some time when the kids were little. All three kids and the dog (90-100 pounds) had plenty of space, and it handled our 35' trailer with ease. After being stranded on the road multiple times in the summer of 2019, we had to throw in the towel and give it up. So...
Facing the same decision as you, our choice was to move to a pick-up and limit how often the dog travels with us. Any of our in-state/weekend trips include two vehicles. I head up early to set up and DW brings the kids and the dog a few hours later. Our longer duration trips (typically 1-2 per year) have the dog staying home with a sitter.
For us, this option seems to be working. Our longer trips tend to have us 'out and about' a lot, meaning the dog would be left alone in the camper. In these cases, he's better at home. For our shorter trips, taking two cars is beneficial as our kids are older and sometimes we need to vary our arrival and departure times. It's not perfect, but it works for us.