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Our dogs did just that.

The crafty AkitaXGSD would look at us, give that doggy smile, then just crawl under the van! She has selective hearing and recall.  We didn't laugh

From the doggy pov i would definitely say a FC is 'better' than a TT if your dog(s) like to make a run for it when they smell something tasty!

My greyhounds would just shoot out of the bottom of the trailer tent awning when I was certain it was way to pegged down for them to be able to. Now they are always 'on their spikes' (fastened to one of those spikes that screws into the ground) when they are in the awning, but the FC has a solid door, so at night we don't have to have trailing leads everywhere!

I would not trust a sewn in groundsheet to keep your dogs in.   They will find another way to get out lol!  One of our dogs in the past used to sleep in the middle section of our tent and as she never went far from us we did not feel the need to tether her at night.  She could and did however manage to force up the zip on the bedroom pod and put her head through and rest on the pillow between me and OH!!!!!

A determined dog may be able to force open a zip.

We have a FC and one lab plus one rottiexlab.  The rottie has not camped yet but we tried the lab in a cage in the awning at Easter.  He has slept in the actually unit before with no tethers and been fine but we wanted to try to keep the main unit a dog smell free area!  He did fine in his cage and we were able to drape blankets round it for extra warmth along wih his bedding inside.  

Not worked out what to do with the rottie x yet as she has not camped so far.

We tried all ways. When the dogs were young we took a crate and they slept in that at night or when the site was busy, we draped covers over it to give them some privacy.

Now they are 4 and 5 they are more settled, the collie/gsd won't leave my site (trips me up drives me mad).  The akita/gsd has an independent streak (being polite now) and is extremely clever. She unzipped the bedroom pod with her teeth and got in bed with us.

Not worked out this summer plans for sleeping yet, will be interesting!