In Germany this seems an individual sport.
You and your dog try and find a remote area where you're highly unlikely to encounter any other humans or dogs. If by any chance you do meet other dogs, put your dog on the leash (if you had dared let it off the leash in the first place), cross to the other side of the road and politely nod to the other dog owner. Make sure the dogs don't get close to each other!
Next, make a mental note to walk on a different day or at a different time in this particular area to avoid encountering anyone. Make sure you respect everyone's property and privacy, no peeing, no pooing, no barking, no sniffing, no looking at anyone, just proper walking on the leash.
Keep doing this for years and whenever you suddenly encounter another dog and your dog misbehaves make sure you say:
"This is weird, he's never done this before!"
DOH! Of course he's never done this before since he never encountered any other dog. Its called socializing your dog! Its forbidden to let your dog off the leash in most public places (at least it seems so in Bavaria).
Taking your dog onto public transport seems to be totally OK although be it buses or trains (I had to buy a 50% ticket for my dog on a train just FYI).
In South Africa, this is a team activity.
You can go to dog friendly parks, coffee shops, markets, beaches and restaurants and your dog will be greeted with a biscuit and a bowl of water will be brought to your table. Beaches are a bit tricky as dogs aren't allowed during season at peak times. If you're in a dog friendly park, everyone will talk to you and comment on your friendly dog's behaviour. All dogs will run around and chase each other and have fun. People will gladly give you a poo bag, most parks even have free ones available. If you see another person with a dog, you walk towards them so the dogs can meet and greet. Also works as a great icebreaker for starting a conversation with a random stranger.
Each and every suburb has at least a few doggy parks, no matter how small, where you can let your dog run free, throw balls and let it play with other dogs, places people visit for this specific purpose.
Dogs are unfortunately not allowed on public transport so getting around by bus and train will not be possible with a dog. Minitaxis are a definite no-no with a dog but private cabs are cool with it as long as you ask the driver first.
Solely based upon my own personal observations. I reserve the right to change the score at a later stage.