I have decently developed legs because I went all out for years when I was younger. A lot.
Squats, leg press, deadlifts, intensity techniques (forced reps, drop sets, rest pause), etc.
Nowadays, it's rare I go to actual muscular failure on compound lower body movements. When I feel a "tweak" or discomfort in my knees or back, I call it a set. So a lot of my leg work is lower weight, higher volume.
I'm content with not being accused of skipping leg day and everyone with a clue knows I use steroids.