Car harness for dog with burns?

We are adopting a dog that was in a fire as a pup. The skin has healed but he has significant scarring on his back and it is somewhat sensitive to the touch.

We’d like to get a harness to keep him safe in the car, but his foster mom says he can’t do a harness yet due to his skin’s condition.

The scarring starts right about where his front paws start and go all the way to his butt.

Does anyone have a suggestion of a harness that may be a little higher on the back? Thanks in advance!