Seeking Recommendations: Dog-Friendly Trip to Germany

I’m planning a trip to Germany from Vancouver, BC, and I’ll be bringing my 5kg dog along.

I’m looking for recommendations for specific cities or regions where it’s easiest to navigate daily life with a pup.

My goal is to spend as much time as possible with my dog—so I’m looking for places where:

• Dining & Shopping: Restaurants, cafes, and shops (including some grocery stores, if possible) are dog-friendly.

• Nature & Outdoors: Areas with great hiking trails, parks, or scenic spots where dogs are welcome.

• Transit: Regions that are easy to get around via train or public transit with a small dog.

I’ve heard Germany is generally very dog-friendly, but I’d love to hear about specific "hidden gems" or neighborhoods that felt particularly welcoming for pet owners. Any tips on pet-friendly accommodations or things to watch out for (like specific etiquette) would also be greatly appreciated!
Thanks in advance for your help!