Did you always have to train pets for litter box?

I've never had too mUch of a problem with cats, I have three now, and I have two litter boxes. I have actually experimented with the idea with some lizards, I had some pretty good results, but it is not as simple. Some tegus and monitors seem to want to go in some form of substrate, something like mulch or bark, and will if its convenient, bit off they are in another part of the house... So I've given up that idea.