We have taken 3 of our 4 dogs out in public at one time or another and the dog trainer that we have used actually takes all the dogs she trains to Tractor Supply at some point to work with them on behavior in such a place.
We have taken ours on road trips, too. It is vastly easier when I have someone else with me because in the summer someone just stays with the vehicle while the other goes inside to the bathroom, etc. and we generally hit the drive-thru places for food. When I am by myself and it is summer time then I always wait until their is a spot under the canopy in the shade at the gas pump, crack the windows and open the sun roof and hope that there is not a long line for the bathroom when I run in to use the facilities and grab a drink and a snack. There are plenty of places that I would not take my dogs in with me as they are standard poodles and I know that not everyone would appreciate me taking them in, but I do worry about Debbie Do-Gooder turning me in for animal cruelty in the summer time because of the heat. For years I drove a vehicle that could not be locked from the outside if it was running which was great for preventing you from locking your keys inside it, but not so great for being able to leave the air conditioning on for your pets while also preventing someone from jumping inside and stealing the vehicle.
All that being said, I do stay at pet friendly hotels if I stop anywhere on a road trip, but even they tell you to not leave your pets unattended, so you have to take them with you if you leave the hotel (and frankly even left in a crate, I would be concerned that someone might still come in the room to tidy up and do something they shouldn't to them). I generally have no issue with folks bringing their dogs with them to anything that is outside, including to a restaurant with outside dining as long as the dog is well behaved (sits or lays quietly beside the chair or under the table). Even as tolerant as I am of dogs, I am still not terribly keen on dogs being inside a restaurant or a grocery store (especially those breeds which shed). But, I am not going to cause a scene over it either.
But as far as pet stores go (PetSmart, Petco, PetSense), Tractor Supply, Lowes and Home Depot are all cool with me to encounter dogs, preferably well behaved.
As for dogs being used to help with PTSD, I personally have no issue with it. I am just grateful that I have not had any experience that has left me with that to deal with. But what works for one person doesn't always work for another and at least these veterans have sought help to deal with it instead of trying to handle it on their own and making terrible decisions.
But you, Mr. Loco, are the biggest reason that I actively try to prevent my dogs from going up to anyone that I don't know even though they are just curious and friendly because I don't know what a stranger's background and experience with dogs has been.
I am also not a fan of people who just let their kids come running up to my dogs because while mine are not at all aggressive, those parents don't know that. Now, when I hear a child asking the parent if they can pet one of my dogs and the parents tells them that they have to ask first, then I will have mine sit first and tell the kid that they can.
If you live to be a hundred, I want to live to be a hundred minus one day, so I never have to live without you.---Winnie the Pooh