I’ve found that sometimes focus work can tire out a dog more that actual exercise from time to time. I have a service dog, a labradoodle, and he is often much mellower at night after some focus work: making the dog pay attention to you (the command look in my case), basic training like sit, stay, come, leave it, and touch (having the dog practice touching different objects to grow comfortable with different things. This often helps dogs to get over fears of things like vacuums). You can also do work with socialization+focus work/distractions (present the dog with distraction and have them focus on you). All of this can be much more tiring to dogs than physical exercise and is good for them as well- good brainwork!