Leah
ppl have already shared some great ideas!
perhaps you can find a happy medium between free ranging and them being in their yard. We have found that works well for our family. The chicken poop was just getting on everyones nerves.
They all LOVE to come out early, so I am in a routine of going out at sunrise and letting them out, they run past their free access feeder to chase bugs around, then they are penned up for the better part of the day. I have noticed that at the hottest part of the day, they just all dust bathe and then sit and conserve their engery anyway.
Sometime in the afternoon, evening, we let them out again to scratch around until dusk- they love it! I am usually making dinner, looking out on them thru the kitchen window while the kids are playing around in the yard.
Its a nice balance between free range ALL day vs penned up ALL day.
Whatever you decide, you have nothing to feel guilty about- they have a safe place to live with plenty of room! Just throw them some black oil sunflower seeds scattered aroudn their pen- chicken JOY is found hunting and pecking sunflower seeds in my humble opinion- and relax and enjoy your chickens!