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“climb” is still best because it gives you a chance to teach resistance training, reward, etc.. Just makes thing much easier for both of you. If there is no room in the home, you can find a quiet place outside. Should certainly be easier than trying to teach it during a walk.
For walks it is much easier to teach a formal “heel” after the dog has learned the ‘climb” and you taught it with positive reinforcement first.
The formAL “climb” will make it MUCH easier to teach a phase 2 “sit” and ‘down”. I think it will be worth the trouble to find a spot to teach it, then make the rest of the training more difficult than it has to be. you canb even teach it on an object outside – like a big rock.
