When people say they want more exercise for their dog, they usually are asking, "Where can I let my dog run loose without guidance and without mental stimulation?" I don't know if that is what you're asking, but having a high energy dog is no problem. In fact I prefer high energy dogs as they perform better when demanding tasks are required. Utilizing a controlled walk will do wonders for physical and mental exercise. You must know what a controlled walk truly is for this to work, though.
If you keep your dog busy with you enough of the time, when you do leave him, he will sleep most of the time. That's what dogs do when there is nothing to do provided you integrate them enough with your outings.
No matter what you do, you will find limitations. You can't take your dog into Applebees, but you can sit in the outside area with your dog. Also, if you need to make a trip to the hardware/farm and ranch store, take the dog with you. Most welcome well-mannered dogs.
Every town is different, though. The only time I got kicked out of a hardware store was on a Reservation. I had just finished with a funeral while three feral dogs were running in and out, but as soon as I entered the hardware store, I was told no dogs were allowed. Weird.
Don't blindly accept limitations that have no basis. Most of us limit ourselves with our made up limitations or allow others to limit us by submitting to their arbitrary, unfounded control. If you are informed by someone of authority that no dogs are allowed, then be polite about it and go somewhere else that does allow dogs. (Ignore the busy-bodies that have no business bossing you around.) I don't do National Parks. Some places aren't safe even if they are allowed like on that Reservation I was on. Lots of mange, worms, fleas, distemper, parvo, and hosts of other parasites and diseases. I don't do PetCo because they want dogs on leash, but PetSmart loves having me there without a leash, so they get my business. Hopefully, some of these examples give you some ideas with your individual situations.
But you have to do your work first. Just like an unruly person will be asked to leave, an unruly dog will be asked to leave. Having an obedient dog will open up soooo many doors for you and make your trip so much more enjoyable instead of a burden you may need to leave at home.