Driving from Perth to Sydney with a dog

Hi guys
I'm re locating to Sydney and driving over with my dog and a friend around NYE this year. I was wondering if anyone knows how easy it is to find places along the way where we can stay with the dog? I guess we can camp if camping grounds may be the easier way to go, neither of us however have done much camping!! I'm new to all this so do caravan/camp grounds usually allow dogs? Ideally we'd like to stay in road houses, B&B's or motel, but said dog might have to hide in bag?!!
We can take about 10 days so I'm also trying to find a nice route to take so any suggestions would be most welcome. I think we'll like to head straight out east to Kalgoorlie to start with.
Thanks all

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