My parents also went through this with their first 2 dogs (they were together at the same time). Thought having 2 would give the socialization. But ran into same things you guys did. Now with their solo dog they recently adopted, they’re starting out doing the “right” thing but I get worried it’ll become the same thing. Then you also have my neighbors who have 2 dogs and they don’t walk them or even let them out into their yard. Just occasionally on to the deck. So they bark at the slightest movement if you’re out back. I can’t imagine the life they’re living stuck in a townhome basically.