We tried to always make car journeys treats, visit to grandma for spoiling or nice new walk, occasional visits to vet always followed by the pet shop next door where he was allowed to chose his own chew (he always chose a pigs ear).
The only thing he didn't like was having to wear his seat belt. half way back from the seaside one day doing about 40mph I was astonished to see the dogs head appear in the wing mirror, pulled up asap and found he had not only worked out how to undo the seat belt but had also managed to stand on the window switch. Not sure that was deliberately done but he was a very bright dog.