Taking our dog hiking in Minnesota state parks

This year we're planning to drive up the Minnesota Lake Superior shore on Rt 61 and stop at a few state parks. We're planning this as a day trip driving north from Duluth, and spending most of the day visiting the parks, seeing the waterfalls and the lighthouse. We're limited on how much hiking we can do because of health issues. Our dog goes with us, of course, and we don't have a camper anymore so we'll be either in a motel or cabin, and we won't be able to leave our dog in either place. We'd like to take her with us on short hikes but we're wondering about the practicality of that, being that we'll be in different terrain. Our dog is in great health and does well on a leash, and loves walks. So, has anybody taken their dog to Split Rock or Gooseberry Falls state parks? We really don't want to board her down in Duluth while we're sightseeing - we'd enjoy it more if she were with us. Any information or suggestions would be appreciated. Darn, I miss our camper!!

Rita
Buttons the sheltie

Rita