Well the first thing you can do is stop letting the dog off leash and expecting things to go differently. Clearly the dog does not have good recall and is not going to magically develop it.
Try this: https://www.whole-dog-journal.com/issues/11_12/features/Teaching-a-Reliable-Recall_16085-1.html
Try this: https://www.whole-dog-journal.com/issues/11_12/features/Teaching-a-Reliable-Recall_16085-1.html