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There are many options to eradicate weeds right down to the roots. Vinegar works, but it takes a week or so to do its thing, and the same goes for many commercially available herbicides. Boiled water is a quick way to kill off roots, or you can pull up weeds at the root.

Technically, dandelions aren’t bad for your lawn, and they don’t directly kill grass. In fact, they appear in areas that are nutrient-deprived, and their long taproots can loosen the soil and bring nutrients closer to the surface. 

However, dandelions do spread quickly, and they can take over your lawn, eventually crowding out grass. This is why a healthy lawn is the best defense against dandelions.

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.

Very carefully. You should be cautious when using any of the above methods, as any one of them could lead to you accidentally killing desired grasses and plants. However, there are selective herbicides that can target certain plants over others. Look for a product that only affects the type of weeds you want to eliminate and spares the plants you want to keep.