It's easy. When you send them to their crates, just don't secure the door. At first, close it, but don't latch it. Then don't even bother closing it-- just leave it open. Try this while you are home first, then leave for brief periods, like walking to the mailbox, taking out the trash, or taking a shower. If all goes well, try going to the store. I wouldn't actually ditch the crates unless the dogs physically outgrow them, or stop using them entirely. The crates become like their own bedroom, and they tend to like being in them.
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