We left our dogs with a house sitter, while we were on our first ever RV trip, those many years ago. Here is a picture of our first RV.
We missed our dogs and have not traveled without them, since.
On our trip to Alaska, we traveled with 4 dogs, 2 golden retrievers, one of which was 3 months old, when we started, and 2 border collies. Out traveling companions traveled with 2 golden retrievers. The dogs contributed much to our enjoyment of the trip, and did not cause us to miss anything we wanted to do.
Most often, we did things in the morning, were back at the RV for lunch. But many times, we needed to be gone long periods of time.
Examples: 1) We spent a 4 days in Denali (nights back in the RV). We didn't camp inside the park, but rather at Cantwell RV Park. The campground provides a pet sitting service. 2) We went of a fjords tour out of Seward. We camped at Bear Creek RV Park (Seward). The son of the campground owners walked our dogs.
All of that said, your situation is different, I infer that you are not accustomed to having and traveling with a dog. If that is correct, I would advise waiting until after the trip. You and the dog need time to become a family. The puppy on our trip was with us at home for a month before we started our trip; she had already become use to us and the other dogs.
Tom