It has changed, and I'm still not sure I'm happy with it.
They used to always ride loose. I now have crates in the cargo space, and they ride there probably 80% of the time. If we are just going around town, they are still loose, or if I just have one of them with me. Any interstate travel or going to/coming back from hiking, both are crated. I don't like them in the crumple zone, but my seats don't fold fully flat.
I think I will get a Variocage once I figure out what I'm doing for my next car. I don't want to buy one now and have it not fit the next car, when I will be getting rid of this one probably within the next year. I will specifically get a car that fits the size kennel I want, and/or that folds flat so I can get their crates out of the crumple zone.
The accident with the agility person in Arizona a couple of years ago still makes my stomach twist. I know nothing is ever 100% safe, but I will do anything I can to make it as safe as possible for my dogs.