There really is no set amount. I don't actually take my dogs for daily walks, and never have. But when I do take a dog out for a leash walk, it's always a training walk, not just for exercise. I was doing that with Halo several times a week, for 3 or 4 miles each time starting at about 7 months old. We worked on leash skills, I reinforced eye contact, we did lots of sits and downs and stays, short recalls, all kinds of things. All of that worked her brain much more than the walk worked her body.
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