Have you thought of using the invisible fencing for your dogs? I am thinking about doing that this summer b/c my one dog doesn’t listen worth anything and sneaks out of the house whenever you open the door. A lot of my neighbors here have invisible fencing and have had good luck with it.
One of my good friends has several acres and her dh installed it for their dog. I know it’s not terribly cheap but it may be cheaper than conventional fencing. Of course it doesn’t work for the person trying to keep people out of her yard, but would keep your dogs in. Kathy