I agree you such wait, watch & listen as if you heard the high pitched noise my poodle make when super excited you may think she was hurting.
I would if after checking it out finding they are hurting the dog I would ask them if they need any training help. Sometimes in the you can do more good for the dog taking this route than than ringing RSPCA as really there is not much they can do unless the dog has injuries or you catch them on tape or something simalar. Maybe start collecting some animals welfare & training quick guide fliers & put them in their mailbox.
If all else fails get evidence & ring the RSPCA.
Dogs make everyday life enjoyable...........