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Yes, we just packed in the dirt, and since it was muddy I think that helped stabilize everything when it dried up. Even then, a few of the posts were not perfectly stable, but after bolting the planks to them everything is so solid that it can't move.
The bolts are "lag bolts" and I pre-drilled a hole about the size of the core of the bolt and let the bolt screw itself in very firmly.
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