I see you're a fan of a good old fashion sweeping statement OP. And your knowledge of dogs' needs is severely lacking.
I'm retired and so I'm with my dog most of the day. She'd be horrified if I expected her to walk three hours a day, in fact it would probably end up causing her massive health problems, given her size.
Neither would she be happy to be permanently fussed over and petted.
I play with her at various times throughout the day, she's walked an appropriate length of time every day and she spend a fair amount of her day either sleeping, mooching around or just sitting and watching the outside world.
Dogs in the wild, would not be active all day and they certainly wouldn't want to be cuddling anyone.
Like most wild animals they would pace themselves with a bit of hunting, which would involve moving from place to place, socialising, resting and sleeping. Dogs are not humans, their needs are completely different so a lot of the things you have listed that dogs miss out on by being owned by people is not something they require.
My dog has had her evening meal and has taken herself upstairs to sleep in one of the rooms up there because she's very independent and doesn't feel the need to be petted and fussed and in my company all the time.
She is most definitely not living some sort of slave existence. Her behaviour makes it clear she's happy and enjoys life. Maybe it is selfish of me to own a dog but we're both happy with the arrangement and she's very well cared for.
I can assure you that I pay enough tax to cover both me and my dog, if dogs not being tax payers bothers you OP. So don't worry, if my dog brings you no benefits in that regard, I'm sure the taxes I pay help go towards what does benefit you.
Given that quite a percentage of people in this country never pay any tax at all, the argument that children will grow up to be be tax payers, so having them isn't selfish, doesn't hold water.
Any non tax paying humans will make as much use of all the things our taxes pay for as tax payers will.
Apart from things like poo bins, dog will make no use of tax funded facilities at all. There is no NHS, or tax funded schooling for dogs.