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@LHL
Another approach we use with ours is to do divert them from dogs/people we don't want them near. Rather than 'come here' we'll use 'this way' (with a wave or walking a different way) to change her direction. Means she can keep running around without coming all the way back, but gives others space where needed.
Trained her by essentially randomly changing direction when out walking and calling at the same time. Let's her know we're heading this way now.