Oh, Caligirl, I just got back into town and saw your sad message.
I am so sorry for your loss. What others have said about dogs not showing illness is so true, and it is clear that you are a great dog-mom. I recently lost one also, and always felt torn between riding and walking them, and try to just work in shorter ones now and then with my remaining, older lab guy, sometimes in the am. before work, or even after dinner. It sounds like you are feeling a need to kind of reconnect with your four leggers, which makes sense, and you should definitely do that.
The bicycle is the most civilized conveyance known to man. Other forms of transport grow daily more nightmarish. Only the bicycle remains pure in heart. ~Iris Murdoch, The Red and the Green