most national parks won't let dogs in ,some of the best beaches are east of esperance there is a camp site at the duke of orleans bay about 90kms east of esperance and pet friendly with awesome beaches all around or if you want to camp for free there is the condingup sports ground and community centre plenty of room on the old hockey pitches and good base to all beaches its about 20 kms inland of the duke and on fisheries rd 65 kms from esperance with pub in the town if you coming from the east there is track down to condingup 4wd from balladonia on the nullarbor