Dogs pads can handle a lot more heat than your feet, but if you did go barefoot all the time the asphalt wouldn't bother you.
As for walking dogs on lawns...if they are not a common area or yours it's the law that you keep them off other peoples lawns. Sorry if that doesn't please you, but you are not entitled to ignore the laws you don't like.
"An ounce of common sense is worth more than a sentence on the internet."
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