When we owned a dog, this issue along with many, many others made us conclude there really was only one, good solution when it comes to dogs and camping/RVing:
LEAVE THE DOG(s) AT HOME. Pretty much eliminates ALL the problems that bringing dogs with you camping causes. Find a good friend, pet-sitter, or boarder that can keep the dog while you're gone. This way your trips are a vacation for both you and the dog.
I could go on and on with the reasons why we went this route, but I think its been well covered in the zillions of other 'dog' threads on here.
Will