Doggy do's and don'ts

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We enjoy traveling with our "boy" Lobo and he enjoys it also and is no problem at all. There are a few times when his presence complicates life a bit. We don't expect to take him into restaurants and other places like that so we leave him in the vehicle. In hot weather this requires that we lock the vehicle with engine idling, AC on and parked close to a window that we can monitor things from. Don't do this in Sante Fee or other places with restrictive ordinaces. Shopping, meals in cafe etc have to be done as fast as possible and there are some places where we take turns walking the dog while the other person goes into the Mission, Trading Post, Rest area Building etc. We get by ok. This reminds me that I do need to raise that PSD idle speed but that is not the point of this story.

But there are a few things out there that we need to do some new planning to accomplish. We don't like the idea of leaving him in a strange kennel for the day while we take a bus tour or ferry ride (Makinaw Island as example)
We won't leave him alone in the Montana. ETC.... But we don't want to miss all of the side excursions.

Has someone got some other schemes for handling the situation to keep all of us safe, comfortable and happy? There are a lot of dogs on the road and there must be some strategies that we could learn from.