This is what I'm striving for also.I want my dog to work without need for a leash. It is important to me. My last dog never wore a collar because she was that reliable w/o a leash. She went in stores and everything and did as told.. no leash necessary.
Why the control freak imitation? Why do you think they have something like 200 million scent receptors in their noses (compared to humans who have 5 million)? Fixations/staring? What does that mean? What if the staring is to make sure there's nothing around that's a threat? Or what if he's staring at a cute poodle? And why no walking in front of you? Is your dog's behind so unattractive that you can't bear looking at it?Mine are:
Can't walk in front of me