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In my personal experience NO Staffie's do not drool after long walks over the years i have owned 6 staffies and none of them drooled.
It's not uncommon to see a dog pant and drool when he's hot, but when it happens at odd times, it can signal a bigger problem. Panting and excess salivation can make it look like a dog is foaming at the mouth, a classic sign of rabies.