Chris G :

  Whichever way you choose for your dog en route, it really is a good idea to use a seatbelt/harness assembly - the kind where doggie can move around, lay down, look out, get a drink, etc but still be safe in case of (knock on wood) an accident. They -like kids- become flying missiles!  And some of us do wince at the thought of restricting them. But . . .  remind yourself they are our fur-friends and that unless you have comprehensive insurance on them it costs a LOT to fix broken bones or ruptured spleens on canines!
Some folks do crate train their dog in home and this can be a comfort for them; but I agree a crate takes up a helluva-lotta room in an already tight van.  There are collapsible soft-sided "crates" for camping but I use a cable tie-out with one end attached to the van, the other to my 65# & 22# dogs. I am going to need a better solution, tho, unless I want to spend all my time unraveling them!
 - suggestions???

--
" Lord keep Your arm around my shoulder
and Your hand over my mouth."