Yes, I have traveled a good bit with my 6 yr old Yorkie and a few times with my 5 month old Yorkie. Any time you enter a new environment I would expect an accident or two. Potty pads do work well in hotels and at other homes. I restrict their area until I know that they will use the potty pad. I also take them outside if that is an option. Belle (my older girl) is very territorial. She will potty until she can't any more just to claim an area!
You said that you travel a good bit. Would it be possible for you to "trial" travel first? Drive around for a bit and then go visit an understanding, dog loving friend or family member? Place a potty pad down and go through the same method that you used to originally pad train you baby. Yorkies are VERY smart. Your pup will catch on.

Good luck!