open the door and let them run around our fenced in yard. i sadly rarely walk the dogs but we leave them outside during the day and they wear eachother out. they love going to my parents recreational property and run all day with the four wheeler go swimming chase turkeys.
My dog's have their own doggie door and are able to run freely on our property. The Kids will actually put a leash on them and walk them every now and then but for the most part they "free range" our property with the chickens! LOL
I have a doberman and a jack russel/rat terrier mix 5lb, and they want out all the time. When they hear people in the drive way, neighbors, squirrels are the best, or just for fun....I need a revolving door.
Mine are in and out all day as we go in and out. They have a dog door downstairs, but generally wait to go out with us. We have 3 fenced acres, but they still love to get out of the fence for a walk down through the woods.