Don't think in limitations, but in sight lines. What can you see from where, which new perspective opens up for you when you go around a "corner." For structuring, you can also use waterways or a pond. Terraces or similar areas, possibly with a pergola and climbing plants, are also suitable. A garden shed or a greenhouse can help with structuring. Espalier fruit trees are also an elegant way to separate visually. There are really countless possibilities; all the above fulfill the aspect of "low maintenance."
With the dog, it depends on which preferences it develops: running away, digging, marking, "full-speed racing"... after that, choose the enclosure, because the dog is supposed to stay there and maybe not ruin vegetable beds.