The obvious reason would be that it is something to entertain them, and something to depart them from the limitless boredom of lying around the house for hours upon hours.
When the dog walks; it could be compared to for example a human reading a book - it is mentally challenging.
As the dog walks - even if he/she simply walks around the strict guidance of the streets or neighbourhood, he/she is picking up unusual smells which is mentally challenging - the smells are for the dog to contemplate and ponder over.
As well as the fact that dogs enjoy the smelling aspect of walking, it can be considered that dogs like physical challenge of the walk - whether he is at the slow gait of a walk or a trot or whether he is shuttling foreward, it is great exercise for the dog and especially athletic dogs love and cherish this aspect of going our for a walk.
In conclusion, they love the physical, mental and the entertainment aspect of the walk which stimulates their brain.
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