I think it's really important to remember that many of the behaviors that we see as "problematic" are perfectly natural behaviors for dogs, and that many of the things that we ask them to do such as walking in a straight line beside us are unnatural and hard asks for them! This is why it's so important to take the time to teach dogs what we are asking for with compassion, and remember that while these tasks may seem simple to us, they are a lot for them! In addition to this, when training a new behavior to replace natural behaviors, that we give them other ways to fulfill that need or better yet, come to a compromise that works for both.
For example when teaching a loose leash walk, I want the dog to keep the leash loose, and I don't want them stepping right in front of my feet (for safety), but I'm happy to have them sniff plenty, walk ahead of me, and cross sides safely. I tailor my criteria to teach this so that I can walk comfortably, their joints are kept safe, and they still get to do all of those doggy things!