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Chamomile tea is safe, and works well for all of them. Mix it in a *little* canned meat, (canned cat food works) and give before the trip. dump it out of the bag, and give a Tablespoon for the dog, and a teaspoon to the cats..Even convenient stores carry it in the section with teas.
It relaxes them, and they will likely want to sleep.. I just traveled 1500 miles with 5 of my dogs, and they made the trip just fine. You will likely need to stop about a half hour, to an hour into the ride for the dog, and then every 2 hours until dark, when they seem to sleep through the night.