If they are males, and not neutered, good luck -- they will spray where they like in order to mark their property.
My fella is an indoor cat but I let him enjoy the
yard outside only when I am out there. He prefers to pee outside and I prefer him to do that also since that makes less work for me cleaning the box. He is neutered so I don't have the spraying issue. He prefers to dig in the bare dirt, even for his pee. He doesn't like to dig in bark or
wood mulch and he straight up will not dig at all in
straw mulch. So, I have reserved one of my smaller rectangular beds for him, and planted catnip around the edges, leaving the middle as bare dirt. It does smell, but watering the patch helps. I take him to the patch right when we go out, put him in it, and move his front legs in digging motions in the earth. He usually gets the idea and does his business first thing. But, he won't poo outside. Probably everything is a bit too distracting for him to be in the right mental headspace.
So I still have that to deal with. Odd cat.
Maybe try a similar sort of "spot" training for yours? Of course, if they are outside all the time unsupervised, that probably wouldn't work.