Depending on the vehicle type you have, you'll find that the beanbag is your friend, I just can't be bothered to take tripod at all, just no point for me. I spend most of the time on the floor of the vehicle as I don't want to be shooting over top of animals, I want as low as possible.
This is the kind of vehicle we have when we go out, I feel it makes a huge difference to be able to move about and get yourself into a position. Basically lay flat on the floor, gear on the beanbag and ready to shoot, have the guide move you to the position that works for you, and best for the animal and you're able to adjust as needed.
Less stuff you don't need to bring means more room to roam.
