We use two portable pens linked together for our two small-ish (20 lbs) dogs. It gives them lots of room to move around and be dogs. I have sewn a shelter for them that fits over a section to give them shade and a bit of shelter if it is misty.
Both the dogs and humans like this situation better than leashes in the campsite - no way to get tangled. We do not leave them out if we leave the campsite, but will sometimes leave them out if we need to go inside for some reason. We always respond immediately if one of them barks. Either to handle what ever situation has come up or to hush them if they are misbehaving.
I don't believe little and cute is a reason for a dog to get away with misbehaving.