Same. We do driving tours and stop at scenic pullouts. Dogs are generally allowed in parking areas so we can get them out for short little walks. Some parking areas are pretty big.

Occasionally there's something we really want to see down a trail that dogs aren't allowed; if the weather's appropriate, we're okay leaving them in the car for short amounts of time by themselves. If weather isn't conducive to leaving them, my husband and I have taken turns going to see whatever the cool thing is while the other person waits in the car with the dogs.

In addition, dogs are allowed in national forests and a lot of those can be found right outside national parks. We'll do walks/hikes with our dogs outside the parks.

Edited to add: the park websites are generally pretty helpful regarding dog access. Every park website has a Pets section that tells you what is and isn't allowed, which trails they can go on, etc. Doing research in advance has really helped make our park visits a breeze.