The dog, wife, and I just got back from a week long trip in a Kukenman sky. Plenty of room for the three of us. The tent is mounted on my trailer at about 5.5ft high. The one thing you want to consider, depending on the size of your dog, is how you are going to get the dog into the tent.
We tried a few things, and for a while i was designing folding ramps in my head. I carried him in and out the first night. At 75lbs neither the dog or I enjoyed that.
Then I tried putting a cooler in front of the fender on the "back" door. No dice, too much vertical without enough horizontal space, funny thing is earlier that day he had cleared a 5ft+ spillover in a canyon with only a little space for a running start with no problem. But he would not take a leap into the tent, mainly because the cooler and fender were too slick for his liking.
Finally figured something out that worked. I pull the truck in perpendicular to the direction of the tent so that the long side of the open tailgate is pointing at one of the doors. Buddy jumps onto the tailgate, gets a couple of steps for forward momentum, the launches into the tent, then reverses on the way out. When he finally was able to get himself in and out of the tent he was so proud of himself, spinning circles and wagging.
Another bonus to the RTT is that once he is in, he is happy to stay in all night. When we are in a ground tent he wants to go in and out all night long, waking us up and tracking in sand.
BTW, all three of us love the tent, huge upgrade for us.