The Grand Canyon, has a kennel where my friends boarded their Jack Russell while we went on a 3 day hike.
I take my Lab along and plan my activities accordingly. I just have a teardrop trailer, but if I leave to take a shower, he stays in the trailer, where he is happy and quiet. The trailer is a secure place for him.
Same friends and I went to a boat festival. We took our dogs along. No dogs are allowed inside the exhibition area but there was a pay for parking place where the guy saved spots that were shaded all day for cars with dogs. We put my big guy and their little terrier (both dogs have been together a lot) in their camper, in the shade, windows
open and fan on. We walked back to check on them several times. Everything went well.
For quick trips to the restroom, I leave him outside the door. He won't go in because the floor is scary, and is a very well behaved and friendly boy. He is not happy being tied up--before I got him, most of his life was spent on a chain and he was in bad shape. I try not to tie him up for very long.
It depends on you and the nature of your dog. I've traveled with dogs a lot on car trips. Sometimes rules are bent if the dog is seen to be well behaved. I have been allowed to stay in motels with my large dogs, when they had a 15 pound limit. I'd ask the manager to come and meet my dog. In one place, I had a hard time leaving because the desk clerk was having fun making my dog do her tricks.