I agree with Bri ^. I never even thought that a dog peeing on our lawn was offensive. Doesn't bother me at all. We had a woman that walked her chocolate lab (off leash ) and let her "go" where ever she wanted. And the woman never picked up after her.
My own neighbors will pick up after their dog if she goes on our lawn. And I'd do the same.
But if you don't like it then try to train her to go on command where you want her to go. Bruce's RB Cocker Spaniel would go on command. The two we have now....not so much.