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I have driven all over the US with a dog. I have a small ice chest that I fill with water before I head out so that I always have a drink to offer. I stop at rest areas often to let the dog out & also to stretch my legs.
We always stay at a motel along the way. Econo Lodge has a nationwide policy to allow dogs, some have a small fee and some do not. Many (but not all) Super 8 also allow dogs. Are they the nicest places to stay? Not really, but the truth is I am exhausted from driving all day and just want a shower & some sleep, KWIM?
I would never fly a dog unless I was chartering a plane and it could travel in the passenger compartment.