Sounds more like you're looking at stealth camping rather than boon-docking???
Stealth camping, lots of goody-goody types out there that will stick their nose in your business and call the man claiming your pets are in danger - some going so far as to vandalize your property to rescue said pets.
Boon-docking out in the woods, nobody is likely to bother you or your dog. Parked off the road down some 2-track fire / logging road is excellent, but I think you're still limited to X number of days and then you have to move X number of miles. FYI Get a Wilson sleek and a roof top antenna if you need Internet while out in the woods, cell phone towers are everywhere it seems these days at least in the lower 48.