There is no law requiring a dog be properly restrained in vehicle during transport, but there is a law prohibiting transporting an animal in a cruel or unsafe manner and can result in a misdemeanor.
Additionally, in 2017, a distracted driving law went into effect, but doesn’t specifically state that driving with unrestrained pets is a type of distraction; however, if the situation is deemed safe by an officer, it may be considered a secondary violation if a driver is pulled over for reckless or careless driving. (since it’s secondary offense, riding with a pet in your lap can not initiate a traffic stop, but your behavior as a result of being distracted by your pet or driving recklessly can initiate the stop , followed by a secondary violation of the pet being the distraction)