Three dragons in a 6'x4'x3' cage? They must have had fun.
The two main concerns with any loose substrates is dragons ingesting it and bacteria/mold growth. Dragons often taste test things with their tongues and sand etc, will stick to their tongues and get eaten. Small amounts normally don't pose much of a concern, except with very young dragons.
Regulate full tank cleaning or a bioactive soil/sand mix will keep harmful bacteria from building up and causing problems for your dragons. Also, parasites can build up in soil and constantly re-infect your dragons till their bodies can't handle the extra load and wind up affecting your dragon's health. As all dragons have some amount of parasites, such as coccidia in their guts at all times, if they keep ingestion food/sand etc that contain coccidia spores/eggs it will build up to dangerous levels. Even if the dragon never licks the sand or even gets any sand into their bodies from eating, the crickets etc, could walk across contaminated soil and thus bring it into the dragon's body.
A living vivarium setup for desert environments could be established with dragons. Beneficial bacterial is included in the soil mixes and these naturally break down waste material, providing they are not overwhelmed (ie lots of dragons in a small cage, or soil not deep enough etc). I don't know much about how to set these up, only really know it is possible to do. Reptile Magazine had some articles about it awhile back, I just cant' remember what issue it was off hand.
Many dragon keepers here have created 'sandboxes' in their dragon's cages. This way the dragons can play in the sand but not have sand over their entire cages. I am sure a similar thing can be done with soil or soil/sand mixes. The sand boxes are just rubbermaid containers filled with sand with a ramp for the dragon to get in and out of the box, or a sectioned off portion of the cage with wood low enough for the dragons to get in and out of easily with a few inches of sand to play in.
I also know in warmer year around climates (ie the bulk of the southern states) many breeders have outdoor enclosures. These certainly are not lined with paper towels LOL. Most have soil/sand substrates, live plants, rocks, logs etc for the dragons to live with. Shelters from the sun etc are also available so the dragon's don't overheat. Typically they have netting or wire mesh over the top to prevent predatory birds and animals from getting into the cages.
So it is very possible to have dragons on sand and soil, just need to be aware of risks of ingesting sand/soil can cause impaction, especially with coarser sands. Most soil is much finer than sand and would pass harmlessly, unless hard chunks are consumed containing bits of wood or rocks. Hard pack soil/sand is much safer, as it isn't as easily ingested and more like their natural environment than half a foot of loose 'beach' sand.
I actually use a soil/sand mix for my spade tailed agama. They do like to dig and burrow so it was recommended to use this as substrates. It is a pain cleaning and preparing the mix and watching the humidity doesn't get too high, as these little lizards do not like high humidity, being a semi arid dwelling reptile like bearded dragons. Picking out the pieces of wood and rocks out of the soil and breaking/removing the hard clumps of earth is also a pain. I would hate to do this for a large cage. The spade tailed agama is in a 20 gal tank which is perfect for a single lizard. Much to small for a bearded dragon of course but since spade tailed agamas only get about 5-7" long, it's ideal.
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PHLdyPayne