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We used to bring Diesel's crate with us camping but it was huge and a pain in the ass, last trip we just let him sleep in the back seat of the Patrol with the windows cracked open and he seemed to love it.
Mine normally sleeps in the tent with us. But in the swag id either just put him under the awning in a bed next to the swag or in the back of the car ( The ms worries he will sook without us being near him)