When you catch them going in the house, tell them no and take them outside. If they finish going outside, reward them. They should not be able to sneak away and hide to go to the bathroom. Try your hardest to keep an eye on them - if you can't for a little while, put them in their crates. Yes it is a lot of work watching them constantly, but the result is worth it!
And I agree, they should be getting out for walks every day.
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