We have four dogs and each of them have their own special idiosynchasies when walking. The biggest one is a nightmare and pulls and fights other dogs. My husband takes him fishing with him sometimes. The other big dog is a pit bull and she is really sweet until another dog tries to intimidate her. Since she is so strong, it is hard to control her when there is a confrontation. Plus, she is lazy and tries to lay down if we walk too much. The middle dog is a heeler and chases cars and bikes, but she is the most fun to take out because she has energy and doesn't pull. I take her running sometimes. The little one is a pug and spoiled. She is still a baby and has gone for walks only a couple of times. We are lucky to live in the country and they have a big field to run in so taking them for walks is only for our amusement.
I think you have to take a dog on the same walk for awhile and they get used to it and it becomes easier.