Understand that few of us have large enough properties for ease and that stress is unavoidable when the population per square mile goes high. It's a set up for aggression vs defense to come from humans.
Your neighbor has a right to private property. However innocently, your dog violated it. Neighbor snaps. Might be a last straw or perpetual battle to keep dogs off the property. Dog urine damages grass, I have learned, just for example why someone would snap, many owners regularly, deliberately, allow their dogs to go several yards into others' lawns. And here come new neighbors with BIG dogs...IN MY YARD ON DAY ONE WITHOUT EVEN A LEASH! I'm nipping this in the bud, by golly.
My view is that neighbor thinks you are just like those other people. Clearly, you are not. Suggest you take a token of peace (food, wine?) to neighbor, apologize for violating their space. Say you have no intention of allowing your dogs in their yard and ask forgiveness.
Couldn't hurt. It sounds like you would rather have peace than start off with an enemy.
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