I've taken my dog to the dog parks listed in the link below! They were pretty amazing!
https://www.rochestermn.gov/departments/parks-and-recreation/parks-trails/facilities-directory/dog-parks
There's also a Quarry Hill Nature Center that's dog friendly I've taken my dog on the trails through. It's beautiful as well! I'll def get back to you about a dog date! I have a 15 lb, fesity little rescue who needs to run some energy out!