We leave our golden at home when we come to WDW - we are gone too long and he would stress out. Besides, he loves to get spoiled at Grandma's! We take him most of the time while camping too, however this past summer we went to Watkin's Glen State Park where dogs weren't allowed on the gorge trails. He had another vacation at Grandma's.
Yes, a barking dog can certainly be heard a little more through the bunks. Our dog is a digger when stressed, so we'd be worried about any damage to the camper if left for more than a short while. We plan our summer vacations around locations that have dog beaches!