My husband and I started in a tent in 1979. In 1980, we got our first dog. We got the girls (twins) in 1986. We bought the hardsided popup (used) in 1987. Got the first cat in 1990 (she was an adult cat and had lived at the shelter for 8 years). We never put her on a leash because she was always within eyesight of the dog. First dog passed away and we got the second dog (shelter). He camped with us until he passed away. The cat was even more attached to the second dog than she was the first. Got the third dog (shelter) and hauled her and the cat camping. Both the cat & dog got giardia cycsts at a campground and both almost died. The cat never really recovered due to her advanced ag. The dog was only a couple of years old and she pulled thru the illness better. Several years later, the first cat finally died. By that time she had gone camping several times a year in 6 states and lived full time in campgrounds for about 2 years (scattered over 3 times). The third dog was part husky which are very sensitive to changes in their "pack". So after two months of her not eating, we took her to a shelter so she could pick out a new cat (6mo old). Within a week of acquiring the new cat, we took her back to TN (a 200 mile trip one way). The new cat was taught to wear a harness. She went camping for the first time when she was 9 mo. Eventually we sold the popup and bought a Class C to fulltime in (chasing jobs - it was cheaper and healthier than hotel rooms). The cat and dog moved into the Class C. By this time the cat was a pro at traveling. When the dog passed away suddenly, the cat couldn't cope without her dog, so we took her back to NC and left her with my daughter (her fav human) and the cat disappeared one day. We suspect one of the neighbours took her (she was an impressive 16lb part Maine Coon cat who just had a bath and was looking her fluffiest). Both my daughter and I are sure we heard her near one of the houses. She had a distinctive howl.
Now my daughter lives with me and she has a rescued Galgo (spanish greyhound). This dog has been living fulltime in an RV since she was 1yo. She wants a cat. She can't have one as she is allergic. We have taught her to not bark. Or sing the ancient dirges of her people. Does she bark sometimes, yes. Just rarely. Does she sometimes sing? Yes, rarely. Does she understand why she can't do those things but the other dogs in parks do? No, she does not. Do we take her everywhere with us, Yes. We have a truck with a slide in camper. She goes to town with us (unless it's single digits or triple digits). Like today. We went to town for a few hours. We turned on the furnace and left her in a quiet section of the parking lot. She sleeps a lot (she IS a greyhound after all). Do we leave her behind? No. She would stop talking to us. At least for a day or so. She has terrible anxiety.
I tell people to micro chip their furkids and teach them to be quiet when all others are losing it. Microchipping is pretty cheap now and teaching a pet to be quite only costs you some patience (don't yell "shut up" at the poor animal) and a few yummy treats. Ruby Lee gets a treat when we leave her alone plus another treat when we get back.
We have used leashes clipped to harnesses, for both dogs and cats, on our furkids. You have more control over the pet and if you have the kind of harness with a handle on the back, that's even better. Ruby Lee wears what is called a "tactical harness". She has two. One is sized to fit over her coat and one is sized for no coat (lighter weight harness for summer). Plus she wears booties to protect her feet from hot pavement, stickers and broken glass.