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One of our cats did that. She'd perch on the edge of the box but often face into it so her poops landed outside of it. The solution for us was to put the litter box inside a bigger cardboard box and put some litter in both for easier clean up. This after making sure there was not some difficulty in pooping going on, like pain or straining that the cat blamed on the litter box, there wasn't. It took a Vet check for that.
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