I have trained a dozen dogs and all are boundary trained, and do sit, stay, down, come, leave it, in, out, pee, and poo, on command. This was accomplished over about 6 months each with pocket treats and praise when they promptly comply.
We have a new doodle pup who is approaching 70lbs at 9 months old. She is about 95% trained on the above but still gets barky when dog walkers pass by or the UPS driver arrives. This is tougher to train away because it usually happens when we are not home and was making my wife crazy. She ordered a training collar that warning beeps, warning vibrates, and if the behavior continues will zap the dog once.
I was not in favor of using this but after a month I gotta say it does work. We only put the collar on when we are home and if she is nuisance barking. She now might bark once or twice and when it beeps she runs in the house and stays quiet. I expect the nuisance barking to be solved shortly. I don't think this should replace regular training but as a supplement to lots of positive reinforcement. They also have a remotely activated collar that gives the same beep > vibrate > shock sequence that is remotely activated. We don't use that one.
https://www.amazon.com/ELZU-US-Newest-Upgraded-Collar-Smart/dp/B07HP8NLXY/ref=asc_df_B07HP8NLXY/?tag=hyprod-20&linkCode=df0&hvadid=241981090934&hvpos=1o1&hvnetw=g&hvrand=14116040747845591600&hvpone=&hvptwo=&hvqmt=&hvdev=c&hvdvcmdl=&hvlocint=&hvlocphy=9031217&hvtargid=pla-635604839693&psc=1