Stay and route recommendations

Hey everyone, My wife and I are planning to drive from Goa to Mumbai along with our dog. We were wondering what is the best route and where to stay for a night (preferably a good hotel/airbnb that is pet friendly). The options which I have found is taking a stop at Kolhapur or Satara, but I think that is too much of a detour for a nice hotel. Any ideas? Anyone who can give recommendations from prior experience?