Many of my neighbors and myself have the small flags lining our driveways all the way down to the street, and along the street, so I guess the dog walker exercised her right to be a complete careless idiot, and let her dog do its thing. I am very lucky, as there must be well over a dozen dogs in my immediate neighborhood, and ALL of them are very careful about where their dogs go and cleaning up after them.
OP, I have seen some motion activated ultrasonic dog avoidance devices, maybe 1 or 2 of these positioned on your lawn and the dog will learn to avoid it.
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Pennsylvania, for 60+ years, most recently, Allentown, now TV. 
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