What son has done by leaving his property (dog) there is create a "voluntary bailment" with you being the bailee. A voluntary bailment is when one party, the bailor, leaves personal property in the possession of the bailee with permission or consent. The bailor can return and take possession of the property at any time before the bailee terminates the bailment and the property is considered abandoned. A bailee can terminate a voluntary bailment by giving notice to the bailor that they need to come get the property or it will be considered abandoned and disposed of.
In order to legally terminate the bailment, you have to give written notice to the bailor at their last known address (which would be where son lives). I would send it certified mail as well as first class mail. State that you are terminating the bailment and the bailor has 2 days to come get the dog or you will consider it abandoned and dispose of it. On day 3 if it is still there, you can get rid of the dog as abandoned
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