We are dog lovers who had many in our lifetime. However, when we began full-timing we want to really see the country. We've accomplished a lot and a dog would not have fit in. We like to do things, not sit in a campground. We wouldn't feel right leaving it alone for hours at a time and in many places that's not even allowed. Hiking in the national parks can't include dogs. We rafted the Grand Canyon for nine nights - no dogs allowed. We volunteered at the Albuquerque Balloon Fiesta and could not have done it with a pet. We took glacier cruises in Alaska and fishing trips - too long to leave a dog.
However, we occasionally volunteered at shelters, walking or just playing with the animals. We also did doggy daycare for folks in campgrounds that wanted to do some exploring but couldn't because of their dog. One, in particular, was done in Death Valley. We had never met the couple but we got to talking with them like RVers do. They wanted to visit the park's Scotty's Castle and it would have been too long of day for a dog. They brought over the pup's lunchbox filled with snacks and toys and it's blanket and we had a grand time. The couple has been friends since then - 15 years. So...like grandkids... you can still enjoy animals - on your own time. :)
We did have a stuffed dog that put a smile on our face whenever we looked at her.