If we're going to be leaving our campsite, as opposed to just sitting outside, we never leave our dog inside the camper unless she's in her crate. This is purely for safety reasons. If she jumped down from the bed and broke a leg, we'd hate to have her lying there suffering for a couple of hours while we were away.
We learned our lesson when I left some chocolate candy on the dinette table and she got into it, paper and all, and got very sick. So she is crated at home and in the camper any time we are not there to supervise and protect her.
Actually, she loves going to her crates and will often get in on her own when she senses we are about to leave. We have made going to the crate a positive experience with treats and praise, and she obviously feels very secure in her "den."
All dogs are different, but this works for us.
2013 Surveyor SP220
2010 Silverado LT 5.3 V8
The world is a great book, of which those who never stir from home
read only a page. - St. Augustine