Stake screwed into the ground (unless ground is too rocky), around the picnic table bench, secured to camp chair (if chair occupied). Whatever it takes to keep the pets and neighbors happy. Have leads of varying lengths to keep them within the confines of our site. We have 2 Boston Terriers - very friendly and each about 20 lbs. For walks I generally use a braided leash that splits into 2 so both are walked together. They are each others best pal so this works OK. Both have harnesses for attachment points.
Last year we ran into the same couple at 2 different campgrounds. They had a border collie that was left loose but never left its site unless on a walk with its owners and was the friendliest, most well behaved dog I had ever seen in my life. Everybody in the camping loop got to know the dog by name and no campers complained. He was either a superior dog or had superior owners.
2015 Shamrock 231KSS, Oyster shell
2016 Chev Silverado LT Z71 Ext. Cab, 4x4, 5.3L V/8
Reese Straight Line WDH, 2000W Honda Gen.
2 Old Town kayaks & 2 Boston Terriers - Zoey/Gonzo
Lar & Ruth
55 nights camping in 2015, 45 in 2016