How do I get rid of the smell of cat urine and prevent them from continuing to do it in the same place?

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The kitchen counter has somehow become the favorite spot for two of my cats to urinate. They're all neutered, and they have two large litter boxes that are cleaned daily. We clean up their urine with soap and then alcohol, but they do it again. And also on any kitchen tablecloth that might be lying around.

I don't know what to do! Nothing has changed from their routine, they're still just as chubby and healthy, but they're urinating where they shouldn't😭