My dog gets vegetables as snacks, but she gets dry dog food for meals. I've tried to buy the best quality for a reasonable price (i.e. a price I can afford).
I am the one that decides what she eats. I've been very fortunate that the last two dogs I've had were not particular about their food. They ate whatever I fed them. I trained all my dogs to eat the food at meal times. If they don't want to eat, I pick it up after a few minutes. In this way, they have learned that they must eat at the specified times.
My Jack Russell eats her food in about 10 seconds. You would think I never fed her. She is not picky, so I don't have to worry about trying new foods.
I've never given my dogs canned dog food. I think it looks gross and smells repulsive. If they need a soft food, you can add water to dry food and let it sit for a few minutes. I did this for my Lab as she got older. The veterinarian said it would be easier for her to digest.