My advice is get a semi-active dog.

My dog wakes me up at 6am to go out potty. I get up, run him a 5k, and it takes about 30 minutes total. A walk would be 20 minutes so it’s not that much longer.

Being semi-active means my dog will conk out after his run and be well regulated the whole day. If he doesn’t get his run, he will become mischievous in order to entertain himself.

The morning run solves for several needs - including my health - and not doing the run has a built in consequence of dealing with a bored and mischievous dog for the day.