What age did you stop using a crate in car?

What age did you stop using a crate in the car for your dog? I camp out of my vehicle frequently – a few times a week usually. I would like my puppy one day to be able to sleep beside me and not have to be in the crate. I assumed I would be needing to crate until around 6 months – 2 years (somewhere in there) before he’s pretty calm and less destructive, but anyone have any anecdotes to help guestimate a more specific age?

Thanks!