What places on their body they are uncomfortable with being touched. What objects are they afraid of (vacuums, their harnesses, small children). What are their physical limitations: Short walks, walks only in the shade, can they walk on concrete sidewalks, or only in soft grassy areas. What medicines are they on and when exactly should they be taken, and is the dog fussy about taking the meds. Does your dog have adverse reactions to certain types of people or environments (kids, screaming kids, people on bikes, crowded stores, cars/busy streets).

I am near a large park with its own dog park section as well. That is a great place to take dogs, whether in the park or walk them on a leash on the paved pathways. I like doing enrichment walks, at your discretion, where I would work on the dogs' obedience. This takes longer, but still gives them a workout while helping them learn.