I don't find them too needy. I almost always have at least one pet in my households, and I find it easy to manage their needs, but I also end up treating them like family members and feel so guilty if they aren't taken care of.
Dogs with the active trait do need to go on more walks, usually one every other day. If my sim doesn't have a lot of spare time for a jog, I usually will just leash the dog and walk a short ways down the road then back. You can even leash them and walk around the house. You don't need to go on a full walk, just walk until you have the energized buff called Good Walk and it will satisfy your dog need. This is especially helpful if you're living in Windenburg because the walks there are excruciatingly long.
Loyal dogs do need more attention but they usually will follow your sim around and just give them a pet every now and then will make them happy.
I find pets so useful to have despite their occasional neediness. Play/Roughhouse (for active dogs) can fill your fun if you're low. They help fill your social, and when you're stressed or sad they can alleviate those negative emotions.
But then when they die... they'll break your heart. :(