We had a cocker spaniel a few years ago. He went everywhere with us. We found that there were quite a few places we wanted to stop and see where taking a dog was either not suitable or just not allowed. We knew that our dog cried when we left him. He did not bark, in fact in 6 years we heard him bark once. A friend came to visit and went in the house and we were in the garden.
Anyway, we decided that if we were going to take a trip and he was going to have to be left alone, we booked him into a local hotel for dogs. He loved it, after a while he would start to get excited about a mile from the place. He had his own room with a private play area. They, the dogs, were groomed daily, bathed upon arrival and when they were to come home. They had a huge play area to be with other dogs, including a pool and climbing equipment.
If your pet barks or is uncomfortable being left alone, it is in everyone's best interest to leave your dog with someone else.