One of the tours that I thought would be very interesting to take is the rock art tour. On their eight hour tour you can see native rock art, petroglyphs, and pictographs.
So, concerning tours that are dog-friendly... I made sure to quote their website so that you had an accurate description of what they offer. Of course, like always, check with them to make sure that the information is up to date.
"Do you offer pet-friendly tours? Can we bring our dog?
We do allow 1 dog on any given tour or two if they know each other and get along. The only place we tour that does not allow dogs is Toroweap. If the original booking party books in a dog, then anyone who subsequently joins the tour must accept it. If anyone that subsequently joins wishes to bring a dog then the original booking party must agree. We welcome Best Friends volunteers and their furry pals. Ask for a sleepover dog!"