welcome to YT!
a dog that doesn't need to be walked!?
i don't think there are dogs that do not need to be walked!
maybe not to the extent that larger breeds need to exercise, but i think all dogs enjoy and need the exercise to stay healthy and happy.
milu is so happy whenever we go on walks! her little butt and tail just wiggles non-stop! it always makes me smile
i would recommend looking for a larger yorkie (at least 5lbs) because the little ones are really fragile and i think you will worry a lot about them.
i don't have any kids. but milu's pretty small (~3lbs last time i weighed her) and i worry about her A LOT!!! she insists on sleeping with us at night, and i don't sleep very well, because i wake up all the time to make sure she is not crushed!!!!
the size thing might be something you want to consider as well. although there is no way to know just exactly what size they'll turn out,(milu's parents' are both 5lbs) but generally the parent's size is a good indication of what the puppy's size will be.
good luck!