My dogs sleep most of the day so i make sure to spend time with them at night but then they go back to sleep in the evening and get upset when we go to bed late. My point, dogs sleep a lot. I was home today working for the first half of the day and guess what... They slept. They get out and are active as much as they need. They are both perfect weight too.
I'd leave them in the house because the amount of danger they encounter is less.