My structured walks are less structured than what my trainer told me to do insofar as my dog can stop and pee or sniff whatever.In addition to being enrichment for the dog, I realized it helps her calm herself to do those things so why would I prevent her from practicing a good coping skill as opposed to lunging. But she has to be behind me when she stops to sniff and has to come when I say "let's go!". I don't want my dog to lead in front because I want to be able to stop her forward energy if something triggering is coming up ahead. I realized that helps me a ton with preventing reactivity. Her reactivity always creeps up when I lose focus and she wanders a bit ahead. And if she does react to a trigger, I use my body to block, which tones down the reaction.