So, if you have free time, now or in the future, consider signing up to volunteer at a shelter. Not to take one home yet, but to scratch the itch and give you the time with a dog that you are craving. So many shelters need dog walkers, people to assist with feeding, cleaning, play, etc., you get the picture.
You said the dog you had previously hadn't had quite the life you thought he should have. Giving selflessly to comfort dogs while they wait for their forever home would be cool. Volunteering is always good.
Or, you could be paid to be a pro dog walker!