I really respect Ceasars' take on things -I think he's amazing. And I also can't do most of what he does.
We taught Mikey 'heel' which is walking beside. We taught when we was tired so there was less fighting. Once he understood he can do it when he's full of energy.
When I'm going for a walk, I put Mikey in a heel and he walks nicely beside me, then when we get to a point I like, I give a release command and he walks up front on a loose leash, and can sniff and pee and goof around.
I think that's my compromise>>>I don't want a robot at my heels, and I don't want a dog who thinks he has to be pack leader, and I don't want my dog dragging me all over.
So we heel for a bit, then release and let him 'do his own thing'.