We made sure both of our children were very close to home, where we could see them, until they were out of 5th grade. We live on a side street, in a small town, but the chance of losing them scared both my wife and me. From 6th grade on, if they were leaving the yard, they had to let us know where they were going and how long they were going to be gone. Curfews were in effect always.
Today they are in their late teens and we still ask them to let us know where they're going. If plans change, we ask them to please call and tell us where they're going to be. Believe me, the older years are much tougher than the younger years. You never stop worrying.