Good to hear you're gaining some good experience without mishaps! Considering the bike you have compared to mine, sounds like you have a good amount of "ballast" with your dog and sand. A Voyager is 960lbs and they are notorious for being top-heavy with their 7.5gal. tank on top, plus their huge fairing full of electronics! So, my bike is constantly trying to flip over in right turns compared to most. My first sidecar was Motorvation Spyder, first on a '76 Gold Wing, then on my '83 Voyager. HUGE difference in handling between the two rigs. Almost felt like I was re-learning to ride a sidecar rig on the Voyager. The Gold Wings are just opposite the Voyagers in that they are very well designed with a very low center of gravity.
At the 1985 sidecar rally three of us were just BS'ing about how many rigs we figured are destroyed by over-confident newbies crashing, then we talked about how can a rider safely learn what a lift feels likes and when will it start on his particular rig. TRAINING WHEEL! Yes! A fourth wheel to the left! There are several dynamics involved in the placement of that wheel, but it's just a bunch of logic and a very simple design. My final version for the Voyager had a three-strut frame with a perch for my castered wheel to bolt to. I used an old surplus 8" pneumatic wheel on a caster frame, intended for those old single-wheeled trailers that were so popular back in the '50's. The frame just has to attach at three points ON THE BIKE'S FRAME. The tire has to be high enough off the ground to allow the bike's suspension to compress normally, plus to clear a few speed-bumps. The farther out it can be mounted, the better, until it makes the rig just too wide to ride on the roads anymore. Also, being farther out makes the whole rig much more stable once the car has lifted. We decided to keep the out-rigger's use to large parking lots so a person could simply get used to what, and when, a lift will happen. Mine also had the ability to keep lifting the tire higher so the whole rig could actually get to the point of being balanced with the car in the air without fear of laying the bike over.
Over the next five years I made up about a dozen custom frames for this out-rigger and helped several riders get past that fear of right handers. A mis-calculated right hand corner can kill you! If the car lifts while taking the turn and there are oncoming cars, you have no choice but to hit them! If you hit the brakes the rig will lay over on it's left side and you will go into them anyway.
I'm still so respectful of any right hand turn.
Speaking of dogs in hacks, did your dog take to the car right off? My little Eskie is still quite fearful of mine, even if the engine isn't running. I sat in the car and coaxed her into my lap, but she quickly jumps out and won't get back in for a while. i would love to take her with me all the time, but just can't take the chance of her jumping out. And, I don't want to try to entrap her inside with a top or anything. Once she gets something in her mind, she WILL do it, so a top wouldn't stop her!
I do plan on building a rack on the back to hold a small plastic kennel so we can take her along sometimes. but, when it's just me and her I would like her to be able to ride in the car.