I mnt bike with my Basenjis- off leash. This is couple of hours per day on the weekends and on National Holidays, a Monday. I found that water is a very good training aid. In the heat of summer, when water is scarce carry a small water dish and a Camel's Back. When they get thirsty, they will come back. It is important for pack cohesion to let them out and be Basenjis.
The rest of the time they should be fenced in. My 3 have about 10 meters by 8 meters. They spend most of the time sunning themselves by the rosemary. This is beneficial because rosemary, like Basenjis, loves full sun. So throughout the rosemary season thats what my Basenjis smell like.
Having a balance of freedom and confinment makes a happy Basenji. The only things I have to concern myself with is keeping the rubbish up and the toilet paper off the roll.
I don't know what your situation is. If you live away from major roads, carve up some mnt bike trails and take your Basenjis with you. Rocky Mountain, Canadian grown, makes a killer mnt bike. And your B's will love chasing you all over God's Acre