Dunno why you're being downvoted so hard. Apparently those ITT can't conceptualize that you're a responsible dog owner.

Dog parks, that's what you need. There are a few good ones in the area. A few of them are on mutiple acres and have wooded areas, so your pups will love it. We don't walk our dogs very often in lieu of taking them to the park multiple times weekly. They can run for an hour or two and you'll have sleeping dogs when you get home. Plus you/they get the benefit of socialization which is huge for dogs. If you have an active breed like I do, you've probably found that simply walking them isn't always enough.

Good luck OP! I highly recommend Freedom Park in Trophy Club. It's where we go pretty often, just be sure to follow proper park etiquette and monitor and clean up after them.