There is a reason 99.99% of the people who actually bike tour and camp use a tent or hammock. I understand the dog needs a trailer, so you will be pulling one anyway, but pulling a small RV for any typical touring distance is a huge step up and quite different. I have never seen anyone on the road except as someone’s YouTube project. You could be the first to make it work, and I look forward to hearing your story, and good luck with your endeavors.