We travel with 4 dogs and they always come with us. They are small and if we are outside with them, they will bark if someone walks past our site but they behave well. We can leave them inside while we run out and I have never had a compliant from any of our neighbors (and I usually ask). We work long hours so our dogs are used to sleeping in the house during the day so they sleep in the motorhome while we run out exploring during the day. I rarely leave them for more than a couple of hours.
We have been RVing for almost 10 years now and I can only think of a time or two that there was a constant barking dog. However, I can think of many times where kids and adults caused much more noise than I would have liked.