My opinion would be to try focusing on training them "come" and "stay" before you let them run loose outside. First in a small contained space, maybe a room. Then gradually larger space, maybe living room etc. Then add distractions (like toys, treats lying around) and make sure they'll "come" straight to you and "stay" as long as you want them to stay.
The problem with letting them roam and chasing them in your yard...they'll think it's a game of chase, which they LOVE. And I think to continually do that, will only reinforce them to
not come and
not stay when you want them to in dangerous situations.
Once you've mastered "come" and "stay" indoors. You can try training them outdoors with a long leash on, but, step on the end so they can't run from you if they wanted to. And then gradually, they'll start coming to you even without a leash. And then gradually, they'll come to you outdoors, even with distractions, such as neighbours etc.
In my experience, every time they came, I made it a HUGE deal and did a huge celebration, "you're the smartest, cutest, bestest little boy Everrrrr" with lots of ear scratches and treats. I also learned that it was beneficial to get a hold of their collar, or just touch the back of their neck, before giving the the treat. Best was teach them to sit first before they ever get treats anytime anywhere.
I never let my baby off-leash when we're near any roads because I would rather die than if a car drove by and hit him!! Can't even fathom the thought! I occasionally let him pay in parks where it's safe. Just make sure your neighborhood doesn't have many Eagles. That's a whole other story...
**all based on my many hours of watching Youtube videos
it's kind of worth it
***Zack George has
great free training videos on Youtube. But I really learned lots from Kikopup. She's AWESOME & AMAZING (I'm just a fan, not affliated with her in any way). You should look up her videos on crazy dog tricks she taught all her many dogs.