I know you love your dog. I have no doubt that you imagine him staring at the floor at home while you're out eating tacos and your heart hurts. But you don't need to drag him all over town with you. Many dogs aren't keen on the stimulation this involves. I see them crowding outdoor seating areas at restaurants and many look so uncomfortable. Or they're tied up outside the market, barking desperately for 10-20 minutes. They are asking for you to meet their needs by providing a sense of calm and safety. But you're just doing your own clueless, selfish thing. This is really fucked up! Meanwhile those around you, who may not be comfortable even with relaxed dogs, are subjected to your panting- whining-barking-squirming freaked-out buddy. No one is happy with your bad behavior!