Keep them off of private lawns, period. Do it for the sake of the animal if not for respecting property owner's rights. You never know what may have been put on a private lawn that could be injurious or even fatal to the dog. Could happen either intentionally or by ignorance. The issue is so important that some homeowners could resort to that. Why make your dog suffer / die because you are inconsiderate? If you love them so much, keep them off other's private property, plain and simple.
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