When my dog was 12 she had a seizure and was not able to eat any hard food (science diet). The vet recommended for me to meal prep her food weekly and it is pretty simple. Cook whatever ground meat and steam a bag of frozen or fresh veggies and throw it into a food processor. I would keep a quarter of it in the fridge and the rest into the freezer. I noticed since changing her diet that she has more energy and her coat looks a lot better. It was a complete 180 change and less lethargic. I feel better because I know exactly what I'm feeding my dog and not giving her any fillers.
Less grain = less poop. Grain free is expensive. You can save $ if you make it yourself. I buy my dogs this stuff. Not 100% grain free but no corn. They love it and don't poop copiously. https://www.chewy.com/sportmix-wholesomes-chicken-meal/dp/118416 (there are intro coupons for this site out there as well)
These guys refurb their spent grains into doggy treats, I'm sure other places do the same, the dogs love them. http://pecanstreetbrewing.com/