What would be the ideal housing arrangement for dogs?

Sure, they want to live on our beds— but they also like to roam the yard/property. They seem to like cozy, enclosed dens and kennels, yet again, they want to be free-range. They like a family or pack and hate to be alone, yet are often bullied to their place in the pack or live bottom in the pecking order when with humans.
They like the warmth and security of being indoors—but a part of them likes the cold and they are always very concerned with the goings on outside.

What, therefore, would be the ideal kennel/barn/garage or household room(s) arrangement for medium-sized dogs, if you were planning a house and property, or retrofitting, for 3–5 dogs?

I want them to enjoy themselves and meet their needs but don’rt want them taking over the house, begging for things they can’t or shouldn’t have… etc