After a short time you can remove the stakes and the dog will continue in the learned pathway. Grass and tough ground cover plants such as Mundo Grass are sturdy. Dogs can walk on and lay on many of these. These plants will spring back with no damage. They can provide a nice soft green space for a nap and look great.
Dogs are territorial and protective.
They want to run the perimeter of the property. An 18-inch space between plantings and fencing will give your dog a natural run, space for them to patrol for squirrels, cats, or intruders without disrupting your plantings. Have four narrow paths radiating out from the center of the garden to this perimeter path. Planning for this buffer will help your garden and your dog will be happy.