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@PaulaToThePeople Hiking can be fantastic, the limitations are transportation, and possibly gear (footwear, and weather appropriate attire). Urban exploring, can be fun as well, with the dog.
If you need gamification, I used to do geocaching and that was a fun way to find places you wouldn't otherwise know of for walking and exercising.
I think for low impact, and good for both you and dog, either could be a good time.