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The first thing that I have found works with many behaviors is to introduce a auto-check in. You start in the house with dog on leash. Keep the leash loose. You can stand and wait for the dog to check in with you .when dog checks give lots of treats. No prompting by owner and Wait for dog to check in on his own. I would use dogs kibble instead of feeding out of bowl, if dog will work for kibble. You slowly add distractions. Don’t introduce negative triggers right away ex: car. Start with positive triggers like a. Favorite toy. The goal is to have dog check in with you every 5 to 7 seconds. Once you have a solid check in , it will be much easier to use other techniques because the dog has focus on you you