Start with the right dog, a dog with fur that sheds dirt (but that also will shed instead). Never given mine a bath. Ever, as not needed.

Have a dedicated routine when coming in from the outside. Always go to same spot, sit down, wait, wipe paws, legs, belly, etc. Do this not only when wet and dirty, but ‘as needed’ until routine is in place.

For backyard access, dog always in via basement door, and there’s a long runner of scrap carpet that captures the initial stuff. Then a sit by that (same) dedicated spot for wiping off before proceeding upstairs.

For shed fur; only thing that truly works reliably is a central vacuum. I have a Roomba, but it fills up in less than 30 minutes and emptying - and cleaning it - takes longer than just to vacuum with the central. It’s still a fun gadget though