I read somewhere that the only time the pup should be allowed to ride up front in your lap is on their very first car ride home

I mean, it can be a scary thing for pups and you wouldn't want the first experience to be a less-than-good one!
We had a 45 minute drive home from Red's breeder, and he spent the whole way in hubby's lap in the passenger seat and on the passenger seat floorboard at his feet where he slept for the second half of the ride.