Taking dogs for short/medium/long walk, or jogging, all take a long time.

Change one of the dog's traits to Independent and you will have the option to Let Out the dog in the pie menu. Doggo will go out and run around the neighborhood for an hour or two then come home. It's cute when you let them out because they howl like a wolf then take off running. Most of the time the Independent trait makes them go outside on their own to go potty. Whenever their hidden social need is low they'll need your Sim to tell them to go potty, though. Any attention is good attention to a Sim doggo, I guess.