OK
I too regularly perhaps finish my first daily walk enjoying a libation in a lovely country pub. I walk in, identify a decent place to sit and tell the dogs to lay down and stay, then I go to the bar to order.
Regularly I receive comments from people saying " I wish my dogs would do that " or something similar. Sometimes I engage in conversation on the topic of dogs doing what they're told , and I notice one constant that is missing from the way some folk interact with their dogs. They never release their dogs from a command.
Therefore the dog has no idea how long it should sit, stay. lay down etc. Should it obey for a minute, ten minutes or an hour, so many people leave it for the dog to decide, and then end up shouting at it.
I always release my dogs from an instruction by using my release word, OK. So if I've told them to walk to heel for example they will do so until released by OK. Without such they would be left to decide for themselves, not a good idea and I would end up joining the shouters.
How do your dogs know when it is ok to exit from your instruction ?