If you go out with them the dogs will romp and play-- there's plenty of space in the back yard.
If you are inside though inside they'll stay-- you'll be walking on them and them on each other.
If you come in and lock them out they'll just sit and stand around by the door and cry and fight.
If they stay inside too long by the same token they get restless and too rowdy with each other.
So to them freedom is two things: not any enclosed space and mostly free when you are there.