I go tent camping with my dogs, and they love it. Just need our tent, a ground stake(unless the ground is too hard, then I'll tie them to a tree on their long leads etc), and the rest of our camping gear. Usually just carside camping, but on occasion we will hike into the woods and pitch up somewhere. Typically we're not super sexually active while camping, so it doesn't take much special planning or discretion really. Just climb into the tent and give em a BJ in the evening if they're being especially randy, but usually that's not the case they're just laying in the grass by the fire pit taking in the outdoor vibes
. There's no wrong way to get out into nature, unless you're leaving a mess behind.