There's only one trail head I can think of. There is a nice loop trail that takes your from the parking lot around the pinnacle and back to your car without retracing to many steps. I think its around 7 miles total? I'll have to check. That's the shortest route from what I remember, but I always do it with friends so it seems like a 3 mile stroll.
I'm sure I have seen dogs there before, but here is a site with information that might clarify somethings for you.http://www.harpweb.com/thepinnacle/hamburg.html
I just checked with the wife, and she said were have obligations for the 4th. So how does the 18th sound? I'm down for rain or shine too!
9:00 or 10:00am sounds good. I usually get off work Sunday morning at 9am. I'll ask to get off at 7 or 8am. I'm only 1 hour from the hike. So we can shoot for 9am if your fine with that. When you PM me, I'll give you my cell number to talk or text. Did you want to grab some beers after word? I know that was an idea in the original gathering...we could play it by ear...