Negotiation is one thing, but not when you're looking to get hired on somewhere, especially with no experience right out of the door.
The facts are pretty straight-forward. You have no experience in the industry and therefore, have nothing with which to negotiate with. It would be one thing if you had years under your belt and even then, it would likely avail you not.
1 week of vacation after 1 year is pretty standard fare and if a company were to make an exception for you, they'd end up having to make that exception for every driver, experienced and not, that came in thinking they deserved it because of their past work history. So, give this one up. This isn't a CEO job, it's a trucking job. Going into a trucking job trying to negotiate more vacation is likely going to get you started on the wrong foot. I don't say that to be mean...it's just the way it is.
As far as the pet goes, that's a little grayer area. You certainly wouldn't be able to have one with you while you were training. Whether or not you could have one in the truck right out of training, might be a little easier to negotiate.
However, all that said:
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We're not kids right out of college...we've worked many years accruing humane benefits for human beings so this factor would be an enormous step down for us
After reading this statement, my advice would be to not make the jump at all. If the finer things in life that you have earned mean a great deal to you (they certainly would to me, which is where I am coming from), I can't see you finding any type of a company gig that would make you happy. If you are financially set and absolutely must get into a truck, then go to a school, do a whole lot of research and planning, buy your own truck, and get your own authority. That way, you could run when you like, where you like, take vacation when you want, and take whatever pets you wanted.
Good luck to you, but if you're going to make it and be happy as a company trucking team, you're going to have to set your aim quite a bit lower for now.