If its nice out, our dog sleeps on the ground. I tried getting him to sleep on a reflectex mat but he didn't like it, so he slept right on the dirt/leaf litter. If it gets cold at night, he climb in with me. Sometimes he even tries climbing in when I KNOW he isn't that cold! He's part pit, he likes to snuggle...
That being said, my friend hiked the long trail with her Aussie Shepherd and it was a great experience. As long as you know the limitations for the both of you, you will be fine.
Chase your dreams without fear or hesitation!