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OP said the owners disavowed ownership of the dogs when the authorities were involved. Doesn't that make them strays and instantly subject to animal control?

If they aren't strays, and the owners are getting uppity about protecting their dogs, then they're also admitting liability for the legal containment & aggressive behavior.

Video the dogs any time they are around - loose off leashes, barking, running around, being aggressive, etc. Obviously not at the expense of not protecting your family, but document it, and show it to LE every time you have to call them.

If they are renters, make the owner aware of the situation every single time it happens. They very well may be out of compliance with their lease, too.

You didn't mention if there was an HOA. If there is, they might actually be of assistance here.

OF