Easiest way to get your dog used to a tent is just set one up in your backyard or I room in your house/apartment and go lay inside it. They will follow you in there eventually and get use to being inside of one.
As for hiking with a dog. I would just know your dogs limits. If your dog can’t go for a 5 mile walk around your neighborhood then your dog probably isn’t going to make the 7 mile hike through the mountains. All dogs love walks so they can sniff around and mark their territory. Overall, I say go for it! Bring your dog! I always have!