We go outside after dinner every day and ride bikes and walk our dog, already.

Do you think waking him earlier would help? He doesn't have an early bed time, usually he goes to bed around 9...but with him not napping, I feel like I should put him to bed earlier since he is missing out on sleep from not napping...but if I take away that sleep and he naps, it's a win. If I take away the sleep and he still doesn't nap, then he will be sleep deprived?

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