In a motorhome or campervan, the place is usually scarce. However, you have to remember that your dog needs space for lying down and stretching out. They are not as space-saving as you would hope. Also, there is luggage such as the water bowl, food, toys, and other things.
By the way: Especially the water bowl can be treacherous and might cause regular floodings of your vehicle. Likewise, stepping in it is always a possibility and will cause the unpleasant feeling of a wet sock on your foot. You can solve the first problem by using anti-slosh or non-slip bowls with rubber mats. The Waumobil rental stations are happy to help and often include a water bowl for the vacation tour.
If you have a large dog, 2-person tents tend to be too cramped. Use a family tent to make sure you and your friend will have enough space on your trip.
But the most important thing is the routine: sleeping and feeding place should always be in the same area. This way, dogs quickly become experienced campers, which makes the camping adventure much more pleasant. Also, make sure that Bello does not freeze - especially when camping with a dog. For hot days, on the other hand, place a cooling mat under the dog's blanket.