How to entertain my lazy dogs?

I have 2 dogs: Skip, a 7–8 year old jack Russell terrier mix and Woody, a 5–6 year old, overweight dachshund beagle
mix. My dogs are lazy. Skip gets moody and cranky when he doesn’t get his mile long walks everyday even though he never wants to go on them because he is paranoid of bugs. Woody loves his walks but can go without them and still be perfectly happy like always. I don’t usually buy them stuffed toys because they’re expensive and Skip tears them up in an hour, but when I do they get bored with them easily. They get bones but I can’t give them one very often because Woody is fat and I have to be fair with them or they get sad and jealous. They aren’t the kind of dogs who would just get up and play all day. Especially Woody. What is a good idea for these lazy dogs to get some excursive and “entertainment”??? Any ideas??