what’s the best way to get people off your grass without a fence ?
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Grow some cactus 
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A couple Dobermans….
Sprinklers
Land mines…claymores…simple
Try me
How about building a fence to enclose it?
How does that help? I’m pretty sure he said without a fence.
They have sprinklers that have an attached motion sensor. They are on a pole with a stake a few feet above the ground. They are made for deterring birds eating grass seed and things like that. But that would be perfect for what you want as well.
Or since it’s almost Halloween anyway, you could wrap the yard with caution tape. I would think most people would walk around it at that point. 