We too camp with our dog (a beautiful, and now older Australian Cattle dog). If I am walking, she is too. I use the retractable leash,n keeping it short while walking, and letting her go longer when she has business to attend to and we are in an area that is ok for doing so. A lot of places have bags available...for the messier side of owning dogs...
When I was younger, most CGs had a section for pets. Now it seems it is more common for campgrounds to have a section for camping without pets as more people bring there pets along. I always make sure to stay out of those sections if I have Holly with me.