Yes they have a couple of different types of receivers that are portable. I have this one:
Onyx Plus. You can get an extra antenna for the other vehicle so you don't have to move it.
Or, if you have their Internet streaming package you can just stream from your phone to your car's receiver via an AUX cord or Bluetooth (if your motorhome and/or other vehicle have it). Using their streaming uses your data plan though, so be aware of that.
1984 Allegro M-31 (Dead Metal)