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This is just an idea, I don't know if it would work or not, but maybe take some regular short trips, that are just meant to be special occasions for your pup.
So, even though he may not want to get in the car, try to act excited and make him get excited. Talk him for a 5 minute ride, and let him out, and pet him, give him treats, tell him he's a good boy, etc...Get him all excited and happy. Take him home and do the same, treats and loving when he gets out of the car.
Make him feel safe in the car, and look forward to what happens at either end of a trip. Maybe that will change his outlook.
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