I used to carry my last doggo with me occasionally for rides. She loved it! I used one of those pouches that you wear like a reverse backpack. She was only 6 pounds, and tended to try to hide by getting as close to me as possible if something really spooked her, so I figured it was the best solution for us. I could easily reach up to hold/steady her with a hand real quick until I could pull over if she needed to be calmed or resettled.
I would just suggest doing some really slow test runs with some sort of mock-up for whatever idea you're considering investing in first. Your doggo might decide they don't like it, or prefer a different setup, and you'll be out a decent chunk of change and time. A bag on the floor would absolutely not have worked for mine. But it could be perfect for others.
If I were to try that route, I think I'd actually do kind of the opposite. Depending on the size you need to work with, I would probably try to modify a dog carrying bag into a one that would fit/work/attach on the floorboard.
In the past, I considered doing the same. A tunnel bag with a solid bottom that can be strapped in place without interfering with foot placement, and the pup could be secured to would be ideal.
I finally decided to carry mine in a front pack with goggles to protect her eyes. She likes to walk out onto my left arm at speed, and sits back against me at stops.
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