To the OP - have you tried giving him a command? For example, teach him "load". If he is allowed on the furniture, give him a command to "load" on the couch, when he jumps up reward. Then give him the command "off" and when he gets down, reward him. "Load" on the bed. "Load" on the chair. "Load" on the picnic table. "Load" going into the kennel. Make it a big game. Try low surfaces first. Then increase to the height of the bed. Once he is 100% on the command, go out to your car. "Load", reward (big party!) then "off", reward (big party). Don't just "load" in the car when you are going someplace.
When my boy was young I didn't want him jumping up on anything for fear of damaging his joints. I would only let him put up his front legs then boost him from behind. Once he got older (and bigger) we worked on higher surfaces for the "load" command. Now he jumps into the back of my truck directly into his kennel, but only when I tell him "load". My boy still gets car sickness, he doesn't care to travel, but will "load" everytime I ask him.
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