As a dog a owner, honestly having a little sign is enough. Sometimes your not thinking about it, or your heads in your phone, and before you realize your dog has peed on someones bush or something. But even a little sign at the front of the yard that pleasantly says "please keep dogs off grass" or something is usually enough of a reminder to stop them before they get going.
Won't stop everyone. But most people aren't jerks. Theyre just not paying attention.
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