Know the rules before you go and follow them. Don't pick and choose what rules to follow and don't ignore the rules you don't like. Those behaviors are what get dogs banned from campgrounds and trails more than anything else.
My dogs go with me everywhere except the campground bathrooms. That's why I like camping, because it's a "group" activity. I pick places where I can do this and leave the other places for when I don't have dogs. If I'm going to leave my dogs inside the rv for hours, then I might as well leave them at home where they can go in and out as they wish. So, my campground choices reflect this. No need to ignore rules or defy them.