I would have no problem going Full Karen and reporting the dogs to animal control and taking videos and photos. You have a right to feel safe and secure in your yard, and if your other neighbors feel they are being sweet and dog-friendly by tolerating this, they are idiots.
The only reason someone hasn’t gotten hurt is sheer luck. When my dog got a hematoma (that needed an operation to remove necrotic flesh) from being bitten by a vicious dog that didn’t break the skin, I was surprised, and my vet said, “there is no such thing as a non-serious animal bite.”
Your neighbors have a responsibility to leash their dogs when walking and take reasonable steps to control the dogs with a fence or run-in. Period. I assume you put a great deal of hard work into your home. You have a right to feel safe. Why should someone’s refusal to clip a leash on their dogs put you and your loved ones in danger?