Hi,
Until very recently, we had two Cardigan Welsh Corgis, about 30 # each. When we had the Road Trek, we left the big double bed
set up in the rear, and put the corgis in travel crates on either side of the bed. The crates were tied down, so they couldn't move,
even in a front-end impact.
There are a couple of situations that we are concerned about - the "internal crash" of dog against seats or bulkheads (or people),
and the possibility of the terrified dogs running around the accident scene if the doors were popped open in the impact. On the
rare occasion that one of them isn't crated, s/he usually sits on the floor just between the people seats.
Now that we're down to one corgi, and have moved YAY! to a 2350S, we find that his crate fits nicely between the retracted slide
and the driver's seat. He likes being closer to us, I think. And we love having him along.
We've never had any comment about corgis at any park - haven't visited the National Parks though.