Walks are great, but I limit the lengths of them. Sometimes my furkids really get tired and just need a break.
When we camp, we do a lot of walking. I can tell if the dogs seem tired, so when they are, we will use the stroller for our walk. They LOVE it. They "take turns" sitting in the front while the other one lays down in the back. It is so funny watching them...... it is almost like they are a tag team!!!
Maybe try shorter walks for the ones that need a little coaxing. (to the mailbox and back.... or to the end of the driveway ) It might just be they some "conditioning"?