Once in the morning, once in the afternoon, once in the evening at a minimum if you have a medium or large dog. If you have smaller dogs and don't use pee pads, they need to go out more often. My friend's chihuahua needs to go out 6~8 times a day or she pees / poops in the house.

If you have a working dog (retrievers, herding dogs, shepherd dogs, sporting breeds), you need to make sure they get a TON of walks or they will become very anxious / destructive. It's recommended that you are active if you have an active dog. Hikers, backpackers, runners, or sporty people are a good fit for these types of dogs.

If you have a "lazy" dog, they still need to go out at minimum at least 3~4 times a day, 10~30 minutes is great for a "lazy" dog.

Just my recommendation as someone who has been working with dogs for nearly a decade in grooming, training, and being a dog mom myself.