It is fairly easy under the Americans with Disabilities Act to comply with the laws and take your dog everywhere with you. If you research the law and you have any malady (high blood pressure, loss of some hearing in one ear, social anxiety disorder, stress, anxiety attacks, mild mental illness, epilepsy, diabetes, migraine headaches, etc.) and you can "train" your dog in some way to assist you with that malady, then your dog is a service animal under the law and you can take them ANYWHERE.
All of my dogs are service animals and you don't have to have any special license, the dog doesn't have to wear a vest or have "proof of training" or "proof of disability". I cannot tell you how handy it has been in emergency situations.
Even in restaurants, I don't understand the ordinances against dogs. They don't exist in Europe. Most dogs are much cleaner than most young children and better behaved. You don't see the restaurant management asking people to leave if a child whines or cries.
If you want to get the vests and the patches to make access easier you can order them online at several places,
www.Raspberryfield.com is just one.
Good luck!