As a child my dad wouldn't let the dogs in when he was home. Living in New England in the winter that seemed cruel so we would sneak the dogs in after he went to bed and keep them in our bedroom until he was gone and we went to school. As an adult, we have a fenced yard and the dog(s) have always been allowed to go in and out as they pleased. They have usually always spent the night in the house.
We have a dog door in the door going from the garage to the back yard and a ceiling fan in the garage just for the dog(s). Yes, I said a ceiling fan in the garage for the dogs...spoiled, I know.
In the past when we were going to be gone all day we would leave the dogs out with fresh food and water in the garage. They had the yard and shelter in the garage if they wanted or needed it.
Our current dog is still a pup and not reliable to not eat the house; get into something in the garage or bark the whole time we are gone, so we crate her in the house for now. Hopefully, when she is older we can be gone for longer without worry because she will have the yard and garage rather than being confined to her crate. She is the first dog we have ever crate trained. We were such idiots with our past dogs for not crate training...lol!
ETA: For the last 2 nights Ziva has slept on the bed with me :-)))