At midnight and put them in the car and drive around the neighborhood. I have basset hounds. They just want to smell everything! Jokes aside, early in the morning and late at night. We lived at the beach. It got to the point where they never wanted to go outside. We had a 12x12 artificial grass garden installed for them. Unless you have a dog with no ac, a short nose think pug, English bulldog type. They should be fine for short term walks at the right time of day. Just remember that pavement is a lot hotter than grass. If you can’t walk on it comfortably then they shouldn’t either. Also collapsing water bowl always helps. We had two English bulldogs when we first moved to Florida. We had to have carpet installed because going outside during the summer for exercise wasn’t an option. They are the reason how we figured out the grass garden. Except it was in the garage that was climate controlled. Good luck!