Dog walking with no side walk

Just moved to Houston and have been walking my dog around the block. One side has a sidewalk, the other doesn’t. I use the side walk when possible, but if someone is coming towards me I cross the street (social distancing). As necessary I’ll move out of the street and into a neighbors grass to avoid cars or others walking. I have now been warned by 2 people to stay out of their yard even though I’m no more than 1-2 feet in the grass. My understanding is that most streets, side walk or not, have a right of way access/easement that would allow me to walk much more than a couple feet into the yard for the purpose of safely walking down the street. Does anyone have additional information or know where I could read it for myself?