I'm now watching Don Sullivan "Training the Perfect Dog" show and like his methods. Mild correction collar and using a lightweight leash means that the relationship rules are the same on or off leash and regardless of distance. He recommends teaching the 'heel' command at the very end and only when needed in order to let the dog do their natural sniffing and wandering. It seems natural.
I was watching Cesar Millan before and some people commented that he was cruel and that physical domination doesn't work. Always suspected using his hand touch 'bite to the side' correction would lead to getting an arm bit by the wrong dog at the wrong time. The video of him training Shadow the husky
https://atlantablackstar.com/2024/10/20/dog-whisperer-cesar-millan-animal-abuse/ does not bode well. Maybe it works in very limited circumstances briefly with super aggressive types but creating fear only leads to future aggression or a broken mind dog.