Due to ESA's not being protected by ADA the stores we are allowed to visit are "pet friendly". 

If you bring your animal into a store that is protected under ADA rules and regulations, you are claiming that animal to be a service animal and is illegal if it is in fact, not. Just more of a reason to force a reformation! There should be no reason a well behaved obedient/trained dog shouldn't be allowed with its handler in public settings, especially if it's for physical and mental health reasons.