Driving with a dog in your lap

Yeah, to be clear I don’t think it’s that big of a deal to have a dog in the car - in a reasonable place, the driver’s lap not being such a place.
We travel all over during the summer with ours in the truck. He knows his spot....back seat usually in the floor board. Every now and then he'll lay in the seat but he almost always lays in the floor board with his face near the a/c vent