Dog-Friendly Landscape

By an edhat reader

Does anyone have ideas for a dog-friendly landscaped backyard? I’d like my dogs to still have space to run around, but the dirt option isn’t really working anymore (too dusty in summer, muddy in winter, and gets everything filthy). Mulch is a good water saver option, but it might obscure dog poo too much (and nobody wants to step in dog poo). Turf isn’t as environmentally friendly as originally thought. Rock gardens are too hard on the dogs’ paws.

Any suggestions? What have other people found to be dog-friendly and nicely landscaped? Thanks.