The cat I share my home and life with is allowed to walk on the tables too, and I don't see it as a problem at all.
Two litter trays for three cats is not enough. Cats need at least one litter tray for each cat, ideally even one per cat plus one.
- If they have enough litter trays
- and you use decent cat litter
- and if you take the feces out of the litter once or even better twice a day
- and change the complete litter once a week,
then it normally shouldn't smell at all. That's just basic hygiene. May I ask how often you clean the litter?
Cats are very clean beings. They wash themselves all the time. If their litter is clean as it should be, they have absolutely no feces on their feet.
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