We travel with 2 x 75 lb. Weimaraners. They love traveling with us. Yes, it can be a problem with potty breaks but I need one more than they do.
Also, walking them is sometimes inconvenient to what I want to do, usually sleep.
But we take them when we sight see or eat out, leaving them in the truck with the windows down and a water bowl.
When we are going to want to do something where we cannot take them, we will have located a kennel for them and made reservations well in advance. That way we know what shots are required before we leave home. The dogs love staying at the kennel as we make sure they get "daycare" privileges to play with the other dogs.
The pleasure and feeling of security we get having them with us far out weighs any inconvenience they may cause.