Road Trip!

We're planning a driving trip to another state soon to visit family. With four kids, it makes for a tight fit (and sometimes a long trip). I was thinking about renting a rv and making the trip much more comfortable. I wonder if we could bring our dogs if we did that? It would save kennel costs for three dogs. It might be worth it. Would it save on bathroom stops too (can you use the bathrooms while the rv is actually driving)?