If we are in an established campground, or even populated dispersed type area we keep the dogs leashed to the truck, usually just with their leashes. If we are alone in a dispersed area, or with friends, we let them roam free. Our dogs tend not to roam very far at all. We do have E-collars for both our dogs, one is deaf and we use the vibrate for recall, and the other is a Catahoula and we will sometimes use the stimulation feature to get his attention if needed. We take our dogs everywhere with us, we just have learned to adapt to include them. They always sleep inside the camper with us as well.....spoiled mutts that they are.