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There are lots of tech devices that work as memory aids but I'm not aware of any that would ”know” she had left the dog outside. If she left the door ajar, there might be something that tells her 'the door is open' after several minutes but if she did that, the dog would likely get in himself. Or, she could have something programmed to say ”where's the dog” every hour but that's overkill.

You could go non-tech and have her tie the dog's leash round her neck when she let's him out, but that relies on her remembering to do that?

Maybe look at it from the opposite direction. Could you train the dog to ring a bell when he needs in?
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