My dogs have become entitled. We used to never take them on walks, due to Moree’s on-leash aggression. We did go to the dog park on a regular basis, and Moree and Smokey would run to their hearts’ content (or legs’ failure). After we lost Moree, we got a puppy.
The first time we took her to the dog park, she tried to leave with another family (and their puppy). So, we started doing daily walks in order to drain some of her energy. Now, if we’re both putting on shoes, the dogs are convinced they’re going on a walk.