I’d agree that it’s inconsiderate to bring an untrained dog into situations where they may cause problems, and I’d even extend this to say that it’s inconsiderate to not train your dog properly. My experience is that a well-trained dog is happier - as the owner, you should be squarely in charge, and you need to help your dog understand which behaviors are acceptable and which are not.
A well-trained dog, on the other hand, should be possible to put most if not all social situations. They do not treat the wrong places as bathrooms, they do not make sounds, they do not eat things they have not been given permission to eat, and they do not greet anyone that hasn’t invited them to greet.
I believe that dogs trained to this level should be allowed in restaurants, offices and shops.