I have two English cocker spaniels (the old man is ~30 lbs, the young girl is ~22 lbs.) Casey has always been a foot-of-the-bed guy; M. likes to sleep up near my shoulders or snuggled under my arm.
The Sunspot is 4 1/2 feet wide and about 7 feet long in the sleeping area, and I have that set up with a single cot along the long side. When we went to Fish Creek, they slept in the camper with me on night one--M. on the cot under my left arm, Casey on the cot at my feet. Their cat Churro slept all weekend in his own crate next to the foot of the cot--it nests in nicely right under the shelf that is my galley/pass-through.
Saturday night when it poured, the dogs spent the night in their crates in the truck, and Churro slept loose with me inside the camper with his crate door open.
My guys are show/performance dogs who are used to being crated on the road, so when I can't directly supervise them, they take a nap in their crates. I also travel with an ex-pen with a cover, so that the dogs and cat can take turns catching some sunshine.
And BTW...Madison says a huge hello and thank you to Brenda (of Jawbone & Brenda) for the lovely long walks Brenda took her on during the Tear-Up.
Madison is the blue roan (black/white spotted) and Casey is the red one, and usually there is a single cot behind them on the far wall that we all share.