Can you be mounted during your watch after a day of riding (8 hours)? If you are not riding, but rather just sitting on the horse for your watch (4 hours), is that ok?
What if you were pacing around the campsite while mounted on your watch after a full-days ride?
I think you'd be dealing with an annoyed horse eventually and have to make Handle Animal checks.
If you're in some situation where you need to flee at a moment's notice, you keep two horses and switch off. A horse is not a motorcycle.
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A very annoyed horse, that would require for a bunch of Ride checks during the watch and possibly Handle Animal checks in case of combat. Paladin mounts an druid/ranger animal companions maybe would be more "willing" to follow the idea.
In any case, the horse would be tired the day after, following the same guidelines for sleeping in armor. And this would apply to special mounts or animal companions, no matter what.
They also kept a lot of horses and changed mounts regularly.
You probably could but given darkness, a tired horse, a tired rider, it's probably not a good idea. That's why the first thing cavalry always learned was to mount quickly ....
Oh, and your horse would be pretty much useless the next day. Horses need sleep, rest and above all a lot of time to graze.