I am a little late with this answer but here goes.
Try Blithedale Summt Preserve, Camino Alto Preserve, and Baltimjore Canyon all reachable from Mill valley, CM, Larkspur and Kentfield.
Specifically a good hike where your dog can be off leash under voice control is:
Drive down West Blithedale in Mill Valley until it ends at the Blithedale Ridge trailhead, park. Take Old RR Grade at the trailhead for 0.2 miles to H-Line, turn right and go up H-Line FR. From the top of there you can go right along Blithedale Ridge; you can go left straight uphill towards Mt Tam; or you can go downhill 0.2 miles to reach the easy, straight Southern Marin Line FR which goes a ways in either direction. There are many loop opportunities – just consult a trail map to find one you like.