I use to feed street dogs in Thailand. I gave them BBQ-cooked chicken legs, and gosh, there would be nothing left in 10 seconds.
They tend to splinter, leaving sharp spikes that may hurt the dog's intestines.
Beef and pork bones are better since these don't shatter.
Of course, birds have small bones so dogs can conceivably choke on them when uncooked as well, but it's generally not a huge concern. The splintering however, is a result of cooking[1].
[1] https://www.rspcapetinsurance.org.au/pet-care/pet-ownership/...