Maybe put them in the car and go down the road a bit? I don’t know if that’s possible where you live, but if you can get them over the threshhold close to home and give them treats (food or otherwise), then walk back to the house they could see that is wasn’t so bad being out. That and also work baby steps on getting them out of the yard. Bribery really does work well for most dogs, even if it is for attention!
