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The dog bite law applies to attacks on people. For attacks on animals it has to cause severe injuries and what occurred does not seem severe. On the way the dog got out it may or may not be negligence. From what you say, you will be responsible for the medical bills. I do not know that you can claim the trespassing argument as the street seems to be common area owned by residents on your street so I do not think you can make the trespass argument.
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