Wanted to put in a word about walking your dog. Walking is important, but PLEASE use your common sense! We wouldn't want you to get tasered ... read this article to learn what not to do and how to prevent being tasered while walking your dog. Here is another article about the same guy that is a little more ... well, you'll see.
Please look into the laws of the area you live in. If you are not allowed by law to walk around nude, than chances are good that walking your dog nude is not a good idea. There may be ones you aren't even aware of, such as walking your dog in cemetaries. Check out this article for an example of this and what could happen if the laws of your area dictate that you should not have your dog in a cemetary.
That being said, we all have to remember that walking with your dog is good for them. It provides mental and physical stimulation. They take everything in - people, places, dogs, squirrels, cats, cars, sirens - whatever they see and hear. Walking is as important to their physical health as mental health.
The length of the required walk is, of course, dependent upon the individual animal as well as the goals you have set. If you are walking simply to relieve your dog, than perhaps 15 - 30 minutes will suffice, though I don't recommend that that be all the walking your do that day! If you are walking to provide stimulation and exercise for your dog, then longer will likely be required (probably more than an hour depending on the dog).
The physical state of your dog should not be ignored. If your dog is overweight, underweight or has medical conditions, you will have to adjust your walks and exercise to accommodate.
Walking is an important training tool. If your dog is reactive or has other leash issues, then why don't you go somewhere that you can be pretty sure you can walk without too many distractions? What about a quiet parking lot in an industrial area?
Not all dogs can simply put on a leash and walk down the street. That does take training (though not everyone is aware of that). However, that does not mean that you should neglect this basic tool simply because you have to teach your dog how to use it. It is important.