Toilet train the cats. We started our cat at two and it took a few months but he eventually did it (I plan to toilet train much sooner with the next kitten.) We used the Litter Kwitter and City Kitty kits, I preferred Litter Kwitter because it was made with molded plastic and reusable.
Prior to toilet training our cat used Feline Pine. You can buy horse pellet bedding at Tractor Supply, it’s the same thing and much cheaper.
You can also carve out an entry hole in a big Tupperware box with a lid. That’d make a giant litter box with really high walls to keep the litter from escaping.