With our 2 previous dogs, they never wanted their walks to end. Bailey would dawdle along, sniffing and exploring for ages if'd you let her. Abby, who we used to always take to the bay, would dance out into the water just out of reach when it was time to get in the car and go home.
Abby evades capture just out of reach in the water
So with Rita, I taught her that getting home from a walk was a good thing by giving her a treat when we get home. And now of course she wants to race home!