Teddy is also a member of this club...he still pees on his front legs when he's hiking...ugh! I have tried taking him out more frequently so his stream isn't so high pressure from emptying a full bladder but that didn't really help much. I do notice that he "gets less distance" with his urine (so it doesn't end up hitting his legs) in the mid/later parts of our walks after his first big main pee but that's not useful info for short potty breaks. One thing that I have found that helps is if I guide him to a tree or bush which gives him something to block the flow of urine (besides his leg/foot).
Mostly, we end up just taking note of which foot he peed on and clean it off when we get inside
I also recommend keeping the body hair pretty short for easier clean up.