It is legal in many states as long as you can communicate and their is at least one exit that can be opened from the inside. I would think a MH would be a better choice under your circumstances or perhaps a tow vehicle that has a back seat where she can lie down.
Tom Wilds
Blythewood, SC
2016 Newmar Baystar Sport 3004
2015 Jeep Wrangler 2dr HT