I use a center console car seat for our 8lb dog in the car, but it's too big to squeeze between us in the cart. I just bought an inexpensive leash and wrapped it around the steel structure that supports the front seats to a short length so he can't jump off the seat and tether that leash to his harness and he sits (or sleeps) between us on the front seat. Safe - he can't jump out and if we stopped short he would be restrained from falling off the seat.
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