When the dogs were puppies, I would occasionally call them into the bathtub, and give them a treat, but no bath. Makes the tub a happier place.
I installed a handheld showerhead that will reach to the bottom of the tub, and use a shower mat. I rinse the dog down, no water spraying on the face! They hate that. A wet washcloth works fine.
I turn the water off and apply shampoo, massaging it in. Then get ahold of the nozzle, turn the water back on and rinse well. With my short-haired dogs it’s easy to use my hands to squeegee most the water off, before putting a towel on them, and pulling them out onto the rug.
A quick rubdown with the towel, and they are released to finish air drying (or rolling in the dog bed to dry, ha).
I’ve washed very small dogs in a larger kitchen sink that had a spray nozzle, and that is easier on my back.