I should say, if i was still working at the office I would probably not be worrying about this. But being at home for the last two years i have become obsessed with my dogs routines and if i do enough to give them a happy life. Still not lucky enough to have a biological child, so i do realise they are disproportionately important to me vs what others may think!
I have chihuahuas, so the advice is that they need 30 mins walking a day. They get this, plus a couple of hours of play/interaction each day. But then they just tend to sleep!
How much interaction do you have with your dogs? What does their day look like?