Actually, a dog might seem content to never go outside if you never take him. My little boy loves, and I mean loves to go for walks. I don't because I feel as though our current living situation doesn't allow it (dangerous neighborhood). However, if I take the time to put his harness on, drive him out to a safe neighborhood, you can physically see him enjoying every sniff, every step, and every dog we meet.
It very could be that they don't enjoy walks, every dog is different. But they can't miss what they don't have.
__________________ Littlest JakJak 
We miss you Kaji 
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