Hiking with dogs in the Lehigh Valley?

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I am looking for a place where my dogs and I can go hiking around the Lehigh Valley. Every place I know about either says they must be on a leash or they're not allowed at all. I love to let them run and the 2 places I use are getting old. I am willing to drive 30-40 min to a park. And I don't want any 'dog parks' since those are fenced in. I like to have a nice HIKE for at least an hour. Any information would be greatly appreciated.
 
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