My dogs keep wandering around

So I have 2 dogs both male one is 7 years old and the other one is a bit over a year and my oldest dog has sometimes wandered off on his own but it’s never bin this bad, now that the youngest dog is older, I’ll notice them being gone for almost the whole day. Keeping them inside isn’t an option since both dogs hate being trapped inside but at this rate they’re barley home and I don’t know how to keep them on the yard. They have no reason to wander off, both dogs are happy and content at home but if I can’t find my dogs for most of the day it really worries me, I do live out of the country but have heard from neighbours they might be wandering off into other peoples land and it could get them killed… any advice would be greatly appreciated.