If only someone could invent something that would somehow, in some way, keep the dog attached to the human via some sort of long line.
Oh wait, I think they're called leashes.
I don't see the problem just keeping your dog on a leash. Before you let your dog roam onto other people's yard, I'd get their permission if you haven't already done so.
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One of my main concerns is that my family will be letting Marley outside as well as myself, and they won't always have the time to walk him.
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This baffles me. Do you mean they would just open the door and let him outside to roam unsupervised? If they can't be bothered to take the time to walk him safely on a leash, then why bother. It's YOUR dog anyway, so that responsibility should fall to you - esp if you have a family that wont' have time to keep him safely on a leash.