As my mother used to comment when we lived in Germany - dogs seen in public there were, in general, much better socialized and behaved than dogs seen in public in the US, as they were allowed much more access to different situations. You wouldn't dream of seeing a dog in most indoor public places here. We have just a few stores where we can socialize - pet stores, feed stores and some stores that sell construction supplies. Mostly, if we go in a restaurant, our dogs must be left at home, or left in the car (which is impossible for much of the year in my warm state). When hiking, we always take our own food...and being America, there usually is a McDonalds within 15 minutes from any destination with a drive-thru service window if you get in a pinch.
When you go in the city, you see more restaurants with outdoor seating areas - some allow dogs.