How can I keep my dog from escaping?

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My husband and I rescued two dogs, we love them as you have no idea. We play and snuggle with them bothI and even though we have a big yard, the two dogs are usually tied when we are not home. They run away to the street every time they are loose. We walk them with a leach four or five times a day. I will love to create something that they could walk around but still being tied but loose at the same time. Any suggestions?

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