I have five cats as well, and I have to say when I didnt have a covered litter box, the little yorkies would pick out their "snacks" it was gross! Now I do use a covered box, and it has kept them away. Their are so many litter boxes out their now, I would go to a place like Petco or PetSmart and look to see what's out there! Also re: the harder poop, must be their diet. I would look for other posts re: constipation and see what they recommend.
Good luck! There is hope, Kitties and Doggies can live together and make life a lot more interesting!