We don't make plans based on the animals, but do make accommodations. In the RV the dog goes with us, and the cat either stays home alone or goes to the vet. New RV will have room for the cat too. We'll use one of the bunk bed areas for a carrier and litter box. We take cruises and board both.
Years ago my folks spent most of the year in their RV and at one point I asked my dad how come y'all don't travel abroad. The stock answer was "who would take care of the cats".
If you want a new dog as a companion then get one, but don't let it run your life.