Beyond time spent out, environment matters. Different places and environments may or may not be challenging for disabled people to navigate. This could be due to accessibility and navigation issues in the space itself, overwhelming crowds, bright lights, long distances, and more.
A quick stop at the convenience store may be completely feasible to manage on their own, while a longer grocery store outing can create far too much hardship on the person, and could be made significantly easier to navigate with their service dog at their side.