My chickens have a covered enclosure so I open the gate and they come and go. If it's raining or snowing they usually know to stay inside. When it's nice they are out free ranging until they go inside to roost at night.
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as long as they have all their feathers, let them choose. as for the gimp leg check the feet to see if they have any injury.
[ bumble foot comes to mind] you can also use a ramp for them to get into the coop.
when it snows I toss some straw on the ground for them to walk on. I have been raising chicken since 2011, & have had up to 28 birds. I'm down to 14 right now as I divided the flock with my daughter. we let them out of their run when I am at home, & then then have free range of a fenced 1/2 acre/pasture.