You don't have to kick and pull a properly trained dog. It heels, it comes when you call it, and you let it off the leash to do some sniffing/running as a reward for behaving itself, not as the walk.
Hell my last dog would take a piss/crap on command. That's handy, let me tell you.
Hell my last dog would take a piss/crap on command. That's handy, let me tell you.