One does need to be aware of the various differences in land designations and how the rules are also different depending on the agency involved. I have seen backpackers with dogs turned back by rangers in the wilderness when the trail left US Forest Service administered wilderness and into the National Park wilderness. I have heard that there is a very short stretch of the trail to Mt Whitney crosses NPS land -- so no dogs on Mt Whitney. And yes, they watch closely. Service dogs that aid with sight and/or sound impared people are allowed on NPS trails, service dogs for comfort or emotional needs are not. Which I found interesting.
Many of the trails in Prairie Creek Redwoods State Park (one of the most beautiful places on earth), and especially my favorite, the Prairie Creek Trail, have been re-conditioned and are wheelchair accessible (a lot depends on the winter storms and how soon they can get out to clear the trails). Not a wilderness area, but it comes close to being one. In the late 80's, I remember the trails being hard to find, let alone follow!
All sorts of all-terrain wheelchairs out there now. https://www.youtube.com/watch?v=MX7qbOdgHzA
Which would explain the requirement that the wheelchair be able to be used in a normal situation indoors (which also restricts width -- it has to get thru doors).
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