My question is: Where are the dogs going to sleep at night? In the back seat or in the truck bed?
In the tent! In our king-size tent we have plenty of room for two adults, our kid, and our two dogs.
Our older Shepherd need help now (She's nearly 14 years old), but that's only been on our most recent trip. Before that thought the dogs get up into our RTT with minimal help and fuss. We've added some non-slip tape to our hood (basically sandpaper racing stripes ) to support their grip, and they just hop up on the hood and to the roof and into the tent. The video below shows our dog with our old rig; the new rig is set up the exact same way. Video is cued to the part that matters, don't feel you need to watch the whole thing.