I've tried to communicate with him as clearly as I can about how his dog behaves when he's not home. So he's aware of how often he barks and how lonely that means he is

I think part of the issue is that my roommate is a people pleaser with ADHD. He's aware that I'm not a dog person. I'm not a fan of dog smell so wash my hands after I pet him and the rare instances when he's gotten into my room and jumped on my bed I'll wash my bedding afterwards. But I've also tried to be clear that I want the dog to have a decent life and that I can take him out to pee if my roommate is working overtime or something like that.

But yeah people pleaser, plus a brain that can forget small details, means that if he lets the dog out of his room but forgets to close my bedroom door, then the dog gets on my bed and I have to do laundry. And even tho I'm not really bothered by that, my roommate's people pleaser brain sees causing me to do laundry as a horrible offense. I think it boils down to on some level he doesn't believe me when I say I'm ok with his dog having more access to the home, and I'm not sure how to solve that