We always ask first and stay where they are allowed. I would never "sneak" my dog in anywhere. Especially after our experience in Minneapolis. My daughter booked us a very nice room at a beautiful downtown hotel in Minneapolis. She got a special rate because her company used it regularly. She checked first to see if our Yorkie would be welcome, and with a deposit, it was fine.
On Christmas day, we had plans to serve breakfast at a shelter where Sophie would not be allowed. So we put her in her travel kennel (our mistake, she doesn't use that one much). When we walked out of the room, she began crying, loudly, and she didn't seem to be ready to stop anytime soon. It was about 7:00 a.m. We left my step-son there with her, and all was fine.
Needless to say, we don't "sneak" her anywhere!