Two dogs, need best fence advice

years ago with different set of dogs we had an invisible fence. We were pleased with the freedom it afforded our dogs. Is this still a good system or has technology came up with something better? Fyi HOA doesn't allow for permanent fences. Any thoughts would be greatly appreciated. Thanks

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from Pets https://www.reddit.com/r/Pets/comments/mpfn93/two_dogs_need_best_fence_advice/