Yes, except when the kids are with me.
And it rarely, if ever, smells. I'm not sure how you guys get stale cigar smell, but it's obvious you're not exhausting all of the smoke. You need to create negative air pressure. Open the vents, put the fans on floor about medium, then crack the driver's side window an inch or so (all other windows should be closed). All of the smoke, if properly done, will be sucked out the window because of the air flow.
My wife, who has a keen sense of smell, rarely notices. I have leather seats, which certainly helps, but obviously the key is that I don't ash in the car and I exhaust the smoke out the window.