I used to have two medium size dogs who loved to go hiking with me. I tended to hike in very remote areas, so it made me feel safer having them with me. They never went far from me and came back as soon as I called them. They like to snif everywhere to find out what else had been out there. They never got into anything smelly, so I was lucky there. But the loved to burrow their noses in the leaves to see what they could find.
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