My husband and I have traveled via car, RV, charter plane, commercial airlines and always with our dog and cat. We sailed the Bahamas and West Indies for several years and they were part of our crew. It wasn't always easy, there were times when the pets were a bit inconvenient, but we were gone a long time, so their staying home was not an option.
We made their care and safety a priority. They were always secured on leashes and had their safe houses (pet carriers), and all the necessary papers and vaccinations. Fresh water, food and shelter and they were happy campers.
Overall, we had a great time traveling with our pets they make great ambassadors. We met many good friends and acquaintances because they were dog or cat lovers. Knowledge and common sense got us through all the good and difficult times.
Just be prepared and you don't need to be afraid to travel with your pet.