Is There a Structured Walk in Balance Training?

Dogs are perpetual toddlers. They just get calmer because adulthood brings a calmness to all animals, whether dogs are people. Children don't benefit from complete liberty because they're not going to make the right choice. The force free community just talks almost exclusively about loose leash walking. You need to be able to control your dog when you want to for their own good. And then you can set them free again.