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Your dog can walk however it works for you and that doesn’t mean walking next to you, but if your dog isn’t responsive to you and can’t come to your side or check in as needed, try this: Use two bowls to teach “let’s go” - heavily reinforce turning around to reorient to you on cue so you can get your dog’s attention when you need to. Because this method is pattern-based, it creates a rock solid behavior before you ever put a name to it. If your walks look more like the first clip than the last one, I’ve got the exercises I use to fix this in a free guide, link’s in my bio.