Games for dogs that don’t require an active human role

I work from home a few days a week and my pup is currently in his teenage phase where he likes to try to get on tables/counters or steal everything that's the tiniest bit loose in the house. If the things he steals are harmless (like dishcloths or socks) I just ignore it and pick it up later when he has lost interest. But if he starts tugging on things like curtains, I need to step in because he has the force to tear them down.

I try to give him some mental and physical stimulation outside of work hours, but at his worst, I can't work for 10 mins straight if he isn't tethered somewhere. When tethered (or restricted in access) he just lies down. I have seen many comments on reddit that dogs are not human and don't need to be entertained all day to have a good life, but I still feel bad to force him to lay down, if he clearly just wants to play and explore.

So I would like to give him something to do from time to time that does not necessarily involve eating. I have frozen kongs, lick mats, chew bones and hide some treats in a blanket for sniffing, but all of those are finished after 5 mins (or he gets bored with the harder chews). Any other, more durable game suggestions that don't involve active human participation (I can supervise while at work, just not play).