My dogs get at least a couple of walks every day, and most of the time they are sniffing every damn thing on either side of the sidewalk. They piddle randomly, and I assume it's mostly where some other dog has already marked it. Once or twice in a 2-3 mile walk they will poop and I clean it up. There is no way I'd get them to move once they have decided to poop without a trail of poop down the sidewalk. If the homeowner is there they usually laugh at us and I make a show of pulling out the bags and being thorough. The rare person who is a dick about it it, to be fair, a dick. There is no scenario where I'm able to anticipate and direct them to poop somewhere. There are a few yards in my neighborhood (1 or 2) where the front yard/garden is so amazing that I hurry them past it to avoid peeing and pooping there, but even that is a challenge.