When we travel our 60 lb. Golden Doodle goes with us. In AZ dogs are allowed in many stores because they do not want them left in cars.
All the National Parks we have been in would not let the dog on the trails. All the State Parks allowed them on the trails when on a leash. I am sure there are exceptions but we have not found one.
On the BLM land out West, the dog was free to run off leash, which also allowed then to be attached or bitten by the local critters.
Bass pro, Camping World, TSC and a few other places will allow dogs. We very rarely leave the dog in the TT unattended and never tied out side alone.(Often not allowed.)
Many restaurants have us allowed us to dine on the outside patio with him.
You will at times have to modify your plans because of your dog but that is life. Fortunately the increase in service dogs for a multitude of tasks, is helping create a more dog friendly environment.