Mine have the run of the yard all day. I even put two doggie doors in so they can get in and out. One in the main house and another on the screen porch.
That’s ideal. I’ve got about 3/4 acre fenced and a back porch with dog door into a tiled utility room. They can come and go as they please, but still get extremely excited when the leashes come out, that means “go” whether it’s a ride in the car, a walk through the neighborhood beyond the fence, or a week at the beach. They do love to go.