
We have travelled
Eurotunnel (35mins dog in car)
Harwich/Esbjerg(+20h -without a dog)
Harwich - Hook of holland(6h dog in kennel)
Dover - Dunkirk(3h dog in car)
Obviously eurotunnel was the most stress free due to the fact you stay in the car with the dog.
Stress free for us may I add, not sure the dgs stressed with the other options either :).
Holland ferry had a massive kennel for my dog and when I went to check on her during the trip, she was so fast a sleep I had to wall right next to the kennel and call her name before she even woke up.
Dunkirk ferry again is very quick and I would use again.
I would be little hesitant to use the ferry straight to Denmark but I think it is me who would stress not the dog :)
+20h a long time to be worried if the dog is ok (even when visits are allowed)!
Don't worry about cutting down the amount countries in europe, you do not get stopped at the borders and just drive through and see a sign saying you are now in belgium etc.