I use (and both dogs carry their own) a set of Hammock straps and a 'biner. I attach it to their harness after wrapping it around a tree. The straps have many loops, so I can quick adjust the size/length they can move around, or strap them together in a Y, etc. I usually setup camp JUST out of range of them, so they don't trample the setup, and can't get into my food -- but, I position wherever I'm seated close enough for them to sit next to me. This gives them some length to explore and move around, and gives me the peace of mind to take my eye off of them to setup shop. As for sleeping in a tent, my dogs both do fine. They both carry a few liters of water on them, gear, food, and I find a good, solid day of hiking and excitement generally makes them pretty manageable inside the tent for sleeping. Plus, they only get to sleep with me when we camp, so it's fun for them!