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We have a dog door in the family room (Which is where the dogs hang out during the day) and its left open 24/7 for cat and dog use. the dogs pretty much go outside whenever they want. And of course I take the ones that can go to the dog park, and I take them for walks around the neighborhood.
Then when we are sleeping they are in our bedrooms with no outdoor access. I can see the entire yard from our office, and so I can see what they are doing when I am not watching them (The only time I am not in the family room, or my bedroom (Which they also have access to during the day) is when I am on the computer, or in the kitchen..or of course not home which is rare lol). And they are outside a lot by choice. Lucy doesn't go out much, except for maybe 30 minutes a day to sunbathe and when she has to go potty. But everyone else likes spending time outside.
Each dog is different though! As long as your dogs are getting adequate exercise, then I personally don't see a problem with them being inside most of the time!
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