I have three dogs and a small yard. I scoop my yard at least twice a day and still. Still they step in poop and track it in my house. I JUST went out and cleaned, had dinner, and by the time I was finished there were poopy paw prints in my hall and kitchen.
My corgi is the main culprit. He poops right on the walking path. He’s elderly, a newish resident of my home and I don’t know how to communicate to him that he should not step in poop.
It’s getting very, very old.
I feel for ya! Not sure what you can do beyond watching them and cleaning up “as it happens.” Good dogs for going outside though!
Not sure I have any other advice other than picking it up instantly either. But to commiserate my elderly dog once accidentally stepped in poop (normally she avoided this) And she panicked and decided to run into the house and jump on the couch. For some reason this was the best course of action to her… Lol So then I had poop on the couch too, ugh. Poor thing She was trying to figure out what to do!
Maybe keep some baby wipes by the door and wipe his feet off when you let him back in?
OR
Walk him for his potty breaks and scoop it up then. Exercise for both of you !!
It’s really a problem. I have a dog door and three dogs. I cleaned up the yard even before I had my coffee yesterday AM. Three piles. AND THEN. Someone went out and pooped and all three dogs stepped in it and tracked it in the house.
I have never had a GSD that didn’t care if they stepped in poop before!
It happened again today. I honestly don’t know what the answer is.
I’m picturing a little foot bath, maybe immediately outside so they have to walk through that before coming into the house. Astro turf on a cookie sheet and you add water daily, then a towel on the floor inside the door so they wash their feet outside and dry them when they get in.
Genius!
I’ve never had a dog that was indifferent to stepping in poo. Simon in particular went to great lengths to avoid it; he was so fastidious that the one time he did accidentally make foot contact with a fresh turd, he reacted as though someone had shot him in the leg. “Eeek, I’ve trod in poo, get it off me!!!” 
My GSD puppy never met a muddy patch or pile of crap she didnt want to run through. I keep one of these by the door when it’s muddy. Can’t remember the brand but you can search “dog paw cleaner”. 
Can you establish a set potty area? Our backyard is all hardscape and pool, so we’ve had good luck establishing a distinct potty area (think sandbox) that the dogs have all been great about using over the years.
Current pup has a litter box right outside the doggie door. I had to get a cat litter mat to put under it because while he’s great about going in the box to poop, sometimes his butt hangs over the edge!
We’ve never had a doggie door. Maybe you could close it off to control ingress and egress more closely?
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