Indoor male cat peeing outside the box

okay so my cat is 3 years old, neutered, and recently he has been peeing outside the box. When we first got him, he peed outside the box but we got him a new litter and that seemed to fix it. But recently, he's been peeing outside the box again. We got a litter robot, which he uses (especially for pooping) but still pees outside the box, sometimes right in front of it. We had a normal litter box out for a bit with the litter robot but he did not use that one at all, while still using the litter robot and peeing outside of both boxes. He's the only cat in the house, but there is a dog who's been really struggling with storm anxiety and I wonder if maybe that could be affecting my cat? They don't really get along, but usually my cat is the perpetrator and he's been attacking my dog less recently. Also, I am his main person, I usually give him attention, and for the past few months I've been sleeping and studying a lot more so maybe he could also be upset about that? although he's usually sleeping with me at night I was thinking maybe he's not getting enough playtime from me. (the other family members don't generally play with him unless he's being problematic) I guess the next steps are to get him tested for medical issues, and maybe prozac? we have a Feliway too. I am also wondering if harness training and taking him outside would hurt or help. On one hand, it would give him more activity, on the other he might stress about wild animals. My mom is threatening to give him away if I don't fix this so I am stressed out. Mainly wondering if anybody has some ideas I didn't think of.