Hi @Michelle98650 - Thanks for bringing this question to the community. It sounds like you all have some great plans ahead of you! I am not local to Tucson, but have spent some great time that way and wanted to share some hiking suggestions that fit what you are looking for.
- Aspen Trail and Marshall Gulch Loop - around 4.5 miles
- Tanque Verde Falls Trail - just under 2 miles
Both of those trails are dog friendly and generally have amazing flora and fauna to see along the way.