It depends on the dog.
I wouldn’t take mine in because he’s not settled until everyone is sat down, and he is sat on someone, and they have stopped moving (standard Dachshund behaviour).
This was manageable when he was a puppy and less determined to hunt down everyone’s fucking food.

Some of my mates dogs are perfect for pubs etc curled up resting, not reacting when people walk past or food is served.
I love our dog but he can be a proper wanker at times