From the floorplan it looks like you can fit a puppy crate between the dinette and sofa or maybe in the kitchen area. You may not even need the crate. Dogs like a cave or a hidey hole and mabe you can fashion something along side the bed (your wife's side if you're smart
) with blankets and one of your shirts.
Our girl goes everywhere I go. She's my best friend and constant companion. We brought her home at 8 weeks and tried to crate train her at first, but she trained so easily I had her going outside within a week so we put the crate in the garage and that was that. She is never a problem when we camp. She's a big dog - very friendly and loves kids, and she's a kid magnet because she looks like a big stuffed animal (Golden Doodle) so people walking by are drawn to her. We always make acquaintances wherever we go because of her.
You'll be fine with your dog. Just be patient with your old buddy and considerate of your neighbors, and follow the campground rules and you won't have problems.