How Do I get rid of animal smell in the car and in the carpet?

You can try to clean it but replacing it is the only way I know of to eliminate the odor.

Yep, agree, pull it and the padding out and replace it. The seats aren't hard to remove, and will likely need a T-50 drive to remove, most of the kick panels/trim panels pop off. If you can't find a replacement carpet I would still pull the old one out of the vehicle and power wash it, however the padding is impossible to really clean, once it gets musty or a smell to it, it's in there.

There is a product on the market called Odor Mute. Look on Ebay or at a pet store. It's a white powder you mix a little with warm water to activate it and then spray it on the suspected area until it's soaking wet. Then let it dry. It biologically breaks down all pet odors like magic. It's been on the market 30 years because it works! But you have to use it before using soaps or detergents which can block the biological action of Odor Mute. I hope this helps.