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Bonding is really important, I fully agree with Cesar Millan here. And walking is a natural behavior for dogs, if you see them in the wild, they walk, that is what they should do.
Thanks for mention belonging and "purpose".
Feeling useful is so important. I have seen elephants being depressed by loosing being useful and having a purpose. The same with dogs. If we have dogs we have responsibility to create their life as much as what is natural for them.