Advice needed: potty training an older dog with a complicated potty issue

I recently got an 8 year old dog that I've discovered is not fully potty trained.

His first owner was abusive, and I'm finding that they must've punished him pretty harshly when he peed inside, because he doesn't pee in front of us inside the house. He will sneak off and pee in another room and/or will wait until we leave the room for a minute to go to pee on the floor.

The owners I got him decided to solve the problem by getting a doggy door. That worked well for him, so he is also used to and comfortable going outside, and he knows that when we go outside, it's time time go potty.

I'd get a doggy door if I could, but I have a declawed cat (by the owner before me) that is not allowed outside for his safety. There's no way to block the cat off from the doors because it's an open concept house. I'm not comfortable with an automatic/electric doggy door either, because I've seen some injuries caused by the locks, and I have a newborn coming soon. I don't want curious little fingers getting caught in the locks.

Obviously, I am not going to rehome the dog again. We're his fourth owners, and we're determined to be his last. So that leaves us with re-potty training as our only option.

I don't know how to go about it though. I've never actually seen him pee in the house, I only ever find it after the fact. So there's no chance for me to correct the behavior. And he's more than happy to pee outside, and understands that "potty time" means we're going outside and that "go potty" means it's time to pee. How do I reconcile the two so that he understands that we don't pee in the house EVER, but we DO want him to keep peeing outside?

Also, before anyone mentions it, he's already been to the vet. No urinary tract issues. It's definitely a result of improper training.

So, any advice? Should I try to completely re-crate train him? Umbilical cord method? Are there any tricks to training an older dog?

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