Welcome to YorkieTalk, Julie and Mia!
We got our Yorkie, Higgins, while we were camping in Florida last winter. He loves to travel with us in our little travel trailer and does very well. Will you be traveling mostly by car? If so, just be sure to stop often to take her on a leash/harness and give her something to drink. One thing we do when we travel is to give our dogs bottled water to drink. Different kinds of water can do awful things to their tummies which is NOT pleasant when traveling.
Which one is it that you don't want to be "too controlling?" Your daughter or Mia? Because if it's Mia, you're in for it. She'll creep right into all your hearts and control the whole family before you realize it! My house looks like a two year old lives here....and we're retired!