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Andi......made this exact trip last month with my 2 dogs. Have done it before. Stay at the Best Western Hotel Del Rio in Navojoa. They are dog friendly and safe. They have a decent restaurant on the property. Most places in Mexico do not recognize service dogs unless they are seeing eye dogs so I don't think you can bring yours into the restaurant. However, you can sit outside with him/her. 2nd night we stay at the Aguamarine Hotel in Mazatlan. It is across the street from the beach and is dog friendly. They charge 500p cash deposit (you get it back). Tell them your dog is a service dog and they waive their regular 250p charge. You will have to show some kind of proof...an ID, vest or something. If you don't have proof they will charge you 250p (not refundable). This is the only place I have found in Mazatlan that takes dogs. There are fish restaurants right across the street on the beach. We brought our dogs. You don't see the restaurants unles you are standing on the malecon as they are below street level. Mazatlan is a good stopping place. There isn't much else after Mazatlan. Also, be sure to fill up with gas before leaving Mazatlan as it will be a very long time before you find a gas station. Bring lots of snacks as there really isn't anywhere to stop to eat besides Oxxo (like 7/11). https://www.bestwestern.com/content/best-western/en_US/booking-path/hotel-details.70111.html http://www.aguamarina.com/en/completo.php Cross at Mariposa truck crossing in Nogales early in the a.m. We even got the red light and they just had us open the back of our car, then told us to have a nice day. Didn't care about seeing our dogs papers, but you should have them just in case. Stay on the Cuota (toll road) and you will be fine. You will be here soon and both of you will love it here.