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Really try and work on the charging - it's a trigger for some dogs. An ex-Neighbour up the street had a Frenchie that he'd let out off leash. I was walking down the road with my back turned when it charged over and before I had a chance to react, my on leash dog span around and bit it in the face. Much better to be safe than sorry - I always ask before letting ours interact with others (not that he's particularly interested) and don't allow him to approach other dogs without giving him the go ahead.
Can be very stressful, I have to constantly engage when walking past dogs and distracting, but even then at the last minute we can lurch across the pavement! Full speed across the park does bring me joy sometimes because he looks like such an idiot