Wehave done it, and yes there are some issues if you want to go sightseeing seeing. I have a lab, previously 2 labs, so in no way small.
Many museums, galleries, stately homes etc, do not admit dogs, even small ones.
Many restaurants likewise, which is absolutely fine, but it just means that DH & I have to do some sights alone , alternating etc, and fine dining is generally out, unless I can book a local dog sitter. Warm weather can be hard, as they can’t be in the car and you have to search for suitable walking
For us the walking , swimming , running etc that we do with our dogs definitely compensates.
If you were going abroad , where would the dogs be? I would just follow your usual dog care when on holiday.