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My favorite dog for camping/hiking is the Rat Terrier. They are fiercely loyal to their person, but a bit standoffish with strangers. They are easy to train, and can be reliable off leash. They aren't very big, between 12-15 lbs; which means they won't take up much room in your tent and they are easy to carry out of the woods in case of an emergency. They have enough energy to hike all day, but they can be couch potatoes too.
I will always have a Rattie.
