My truth….I have 2 couch potatoes during the week. They "hunt" in the backyard when I'm home and run in the house when the yard is too damp. The rest of the time, they're asleep under the covers on our bed.
They get (their favorite) leash walking time 3 x's a day when it's the rainy season. They follow me where ever I go when I'm gardening. Other than that, we play with them in the house or yard in the evenings and are always on the alert for the signs that additional exercise is needed. When that happens, we just do casual walks in the neighborhood, making sure they mark/pee the out-of-gate areas on our property in case--God forbid-- they ever get loose; they then have personal markers to find their way home.
Other than that, we take them with us whenever we can to any public venue that allows dogs, on the weekends.
A fenced backyard and a doggie door are a Godsend (for me). My 2 are right now doing a b500 indoor to outdoor racetrack repetition. Sometimes I wonder how they make it through the dog door at such speeds without accidents that create brain damage.
Family x lifestyle x basenji personality = what ever is best for you and your dogs.