My two springers sleep in the caravan - we encourage them into the little spare bits either side of the drawers on a blanket - but if they get in the bed then oh well, we don't mind that either.
My springers probably have more showers than most teenagers and are always dried off before coming in the van.
If we ever sell the van then I'll let any prospective new owner decide if it smells too doggy for them!
Dogs sweat glands are actually in their feet, so by making sure their feet are rinsed off you eliminate any nasty smell.
I wouldn't leave them in the awning overnight for safety reasons (dog theft is far too common these days!) and like others have said, they are part of our family.
As for a strangers dog running into someone awning - I'd go spare!!!! As would my dogs!