To keep them from bolting out the second a door is open...you need to teach the command stay. Mine won't leave our yard if the back gate is open...there is an imaginery line there.
Don't start the practice outside...do it inside until you know they understand what stay means.
I rarely allow mine unleashed out front...simply because there is always the chance a temptation will come by. Kids, another dog, etc....mine will come back but I can't chance they won't be able to resist the temptation and run into the street.