I walk Misha at least once a day. I try to go for 20 minutes if I can. I have arthritis in my feet, so it depends if it is a good day or not. Either way, she gets a walk. On days where the weather is good, I try to fit in a second walk in the afternoon. Right now, it is a little too warm to walk her in the afternoon.
I think all dogs would like to have at least one walk every day. They need to get out, sniff the bushes, and explore who has been in the neighborhood. Even when my Lab got older and had arthritis she so enjoyed going for a walk. I would take her out twice a day for 5-10 minutes. Just enough so she could "read" the neighborhood news.
I have found that Misha is much easier to live with when she gets her walk. It burns off so much energy. Even on rainy days when we can only sneak out for 5 minutes it does her some good. It's just enough of a break that she doesn't drive us crazy.