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When dogs sigh it's often a sign that they are feeling relaxed.They can do this when bored too however.

My favourite foster cat would let out this huge sigh in the middle sleeping. There's something about that sigh was so relatable. Like when you get perfectly cozy then you let out a deep sigh of "finally the true rest begins now.'

My pup just did this 5 secs ago, I gave her a hug.