I travel alone and with my husband.....when I have to go to a rest stop alone I put him in a carrier that looks like a purse with a zipper on top and vents on each side because I was caught one time bringing him in one and was told to leave! Now I just sneak him in
In hotel rooms, if I have to leave him I bring the crate in with me and leave him in there so nothing can happen while I'm gone, but usually just go places that allow pets like restaurants with outdoor seating. I also have an open top carrier so I can be hands free, sorta. I just make sure I always have his water bottle and most people are happy to see him! You'd be surprised what stores will allow pets if they are small and you are carrying them as long as they don't sell food.