We tent camp with our dogs, it's really fun.
Make sure they have ID tags with your cell # not your home #, it makes for an easier return if lost.
At night, our dogs sleep in the car or in the tent with us, which ever is more comfortable for me.
During the day, we always use tie outs and ex-pens. When we camp for a long period of time, we set up a close line with a tie out for a "run" it works great. IMHO, puppies and small dogs do best in the Ex-pens with a bed, just be careful not to put them too close to the campfire, they don't like the smoke either
