I know exactly what you are talking about. We travel with our two small Yorkshire Terriers. About 11 pounds between the two of them. At home they often climb up to the back of the couch/recliner and sit there. They do the same thing in the camper and both have experienced the rapid descent and subsequent entrapment behind the camper recliner. When camping, my dogs always have their harnesses on (you should never use a standard color on a Yorkie). I keep a straightened out clothes hanger with a hook under the bench seat so that I can hook them like a fish and pull them out. On our trip this last weekend I took a fleece slipcover that my wife made for a large computer monitor and slipped it over the back of my recliner. It was nearly a perfect fit. It solved the problem as it gave my dogs some traction and they were less likely to slip off of the top of the recliner.Our small Coco has fallen behind the recliners a few times and getting her out has been a pain. We added a bunch of layers of a cut up foam mattress so we can reach her more easily. As you can see, she is still not too excited about the whole thing.
View attachment 105978