Once that odor is on something, they will return to it to use as their bathroom. So I would use a pet enzyme cleaner like Nature's Miracle to treat any furniture and fabrics.
You might consider putting a small dog run in your yard or a zipline to put the dogs in to relieve themselves..... or take them for a walk 2x a day.
I made a 25' zipline in my client's yard for him to put his pitbull in the unfenced yard. I used a really long coated steel cable attached to the porch and a tree at the back of the yard, and then you use a shorter steel cable fastened down to the dogs collar/harness so they can move freely down the zipline. I also did this on a smaller scale for another clients two chihauhaus. Then use a pooper scooper to keep the yard clean.
Where is the designated 'bathroom' located in the yard that the dogs have been taught to go to do their business? Why are the dogs not using it?
They are dogs, mine will pee in the garden on a nice day, but if it is raining he will pee in anything under the pergola. He does not want to get wet. So not necessary about bad training.
An enzyme product will help remove the odor. Can you limit access to that area?