Yes, I saw it and made the same comments to Mrs C.
When you think about it, caravans are not built with crumple zones to absorb impacts - they are crumple zones - and having seen piles of debris at the roadside following caravan accidents, I wouldn't put a pet cat or dog in a towed van which, incidentally is legal.
Also, unlike motorhomes, caravans have no seat belts so the unfortunate occupants would be hurled around the interior in the event of an impact.
I thought it was totally irresponsible of all involved and apart from the tenuous link between American presenter and American caravan, thought the whole exercise to be a pointless and dangerous gimmick.