Our property backs up to about 20 acres of wooded land that's surrounded by streets and houses. Down the road about a half mile is a fire station. In the winter (never the summer), when the sirens start howling out of the fire station, the coyotes will howl back at the EMS sirens. I'd guessitimate 6 to 8 individuals last year.
My dog will occasionally go crazy throwing herself against the back fence in our yard. Opossums or coyotes for sure. I've seen the occasional coyote crossing our street, heading back towards the woods.
Once I spotted a pretty large coyote trotting down the road in an adjacent neighborhood in the middle of the day. I called the police (non emergency number) to report it. They said, "We've had several reports of that coyote today." "Any suggestions", I said. The dispatcher said "They were there before your house was, just ignore it."
So far, we've not had any attacks or missing pets reported.
If I find one in the yard acting aggressively, it's nice to know I can shoot it if I need to, without it being a crime.