I love to hear about dog-friendly places to go.
I'm in this park nearly every day. There is plenty of poison oak, but the path is well used so that you can easily avoid it if you stay on the trails. Several trails connect so that you can hike/bike/jog several miles of mostly single-track + about a mile long fire road.
The hike from Castle Rock State Park main entrance to Waterman Gap Trail Camp had some beautiful views, but be aware that for quite a while you can hear gun shots from a nearby artillery range as well as road noise, especially at the camp site. Also, there are 2 routes to take once you reach the intersection of Saratoga Toll Road Trail (STRT) and Beekhuis Road: if you go toward hwy 9, you follow 9 and hear road noise. If you continue on STRT, it's about 5 miles longer (15 miles instead of about 10). Road noise continues from Waterman Gap to the Ridge Trail/236 intersection, which is at least 3 miles.
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