We have had three TVs over the years. It has almost always been just the two of us and our dogs. Started with a Ford E-150 Conversion Van, towing two different Ultra-Lite TTs. We removed the two captains chairs from the center row and our two labs had all kinds of room. Next TV was a Chevy Suburban 2500. Usually had middle and rear seats folded down for the dogs, but on one long trip, also had sister-in-law, her son, her dog, and our two labs. The three dogs stayed in the rear area of the Suburban. Graduated to a 5er and a Chevy 2500HD CC Diesel. The dogs do fine with the rear seat folded down, but now no room for the sister-in-law and nephew. Too bad!
The van was the most comfortable for everyone, but it had limited towing capacity. The Suburban was a good compromise. Good towing capacity, but not quite as comfortable. With the 5er, we had to have a truck. It tows better than anything else, but not as much room for dogs , passengers, and other cargo.