In my opinion, dog owners have to lower their standards of cleanliness.

Maybe start the walk 15 minutes earlier so when you return home, either blow dry their coat or towel dry their coats znd then brush the dirt out. Once they are dry the dirt should brush right out, thus saving you extra cleaning.

If they get very muddy then rinse off their legs or feet as this is where most dirt will be and then dry them off.

I think it is great you walk them every morning.

Buy some pet wipes and use them each time you bring the dogs back indoors.

Would they look too silly with their legs clipped? We have poodles and are used to silly looking dogs.

Another vote for pet wipes.