We have always TM'ed with one dog or one cat, and for years with one of each. The dog was always interested in riding in the truck and living in the TM. The cat took a bit more time getting used to it, but became very happy with riding and TMing. When riding, they slept together on the back seat of the truck. In the TM, they both had their hangout spots. At night, they slept where they wanted - the dog with us, the cat usually on the chair. We have never used a crate for either. We always walked the cat on a leash, since he/she wasn't really good at obeying voice commands, and being curious, like all cats, would wander off. We also walked the dog on a leash. She would walk well without one, but she was interested in meeting other dogs, as well as children (she was certified to work with kids in hospitals), which slowed our walks if we couldn't urge her along.
Both were wonderful companions, and added a lot of joy to our trips.
Bill
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