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Look for a broadleaf herbicide, one that has been formulated specifically for dandelions and is considered grass-safe.

Glyphosate and other non-selective herbicides can kill orchard grass, but they will also kill the surrounding plants. Also, not all areas allow the use of glyphosate due to its environmental impact—which the EPA describes as a "potential risk to terrestrial and aquatic plants and birds, and low toxicity to honeybees." Consider mechanical removal to target the plants specifically.

Vinegar cannot tell the difference between weeds and desired grass types; it kills everything it touches. Only use a vinegar or vinegar-based solution if you are relatively confident that you can navigate around the plants and grasses you want to keep. Also, don’t spray vinegar on a windy day, or it will blow onto other plants.

No, it's not really possible to completely prevent weed growth. Weeds are incredibly resilient—all they usually need is a tiny bit of dirt to sprout, so their eventual appearance is pretty much inevitable. However, you can definitely keep them at bay by getting rid of weeds as soon as you notice them. The longer you let them sit and grow roots, the more they'll spread.