My dogs, Bessie (in front) and Baxter enjoy the garden too. I built boxes last year in an attempt to avoid bending over as much as possible. It works until you need to stir up the soil and add fresh manure etc and that required emptying out the boxes and sifting the soil, replacing the newly refreshed soil back in the boxes. Oh my aching back!
When I lived in Chicago, I had a fabulous vegetable garden and yard --- there something about actual soil ( not dirt) and rain that makes a garden grow. The first gardening tool I bought 23 years ago when I moved to Prescott was a pick axe --- that should say it all!