I checked around here a few years back. Most shops that change anti-freeze for you recycle it, but they won't take outside anti-freeze. One garage took used oil and anti-freeze, but they said that their anti-freeze tank was full. The only place I found to take mine to was the county dump. They have a hazardous waste place to take it. About once/year, the local county recycling place in town takes paint, antifreeze, used oil, etc.
I don't worry about small amount on the ground. It'll biodegrade if it can't get to the water table very fast, e.g. has to go through lots of soil. Same way with used oil. However, you can very quickly overload an area to where it'll runoff to ground water or to our lakes and streams.
All my vehicles but my tractor are on long time use antifreeze (e.g. 100k mile stuff). So, I only have the 2.5 quarts from my tractor every other year to dispose of.
One antifreeze that's a little more safe, at least not enticing to animals, is propylene glycol. Still, you have to be careful where you dispose of it. Don't put it down the drain.
Ralph