I would love him to walk on a loose lead ALL of the time - no matter the distraction. Also, I don't expect any sniffing (stopping to sniff) or peeing up things while he is on the lead. That is reserved for off lead only.
I find it really difficult to teach when we walk twice a day - on the lead, about 20 mins to get to the field where he is off lead. To teach it properly there should be no pulling in this walk each time we do it. Hopefully someone is having the same problem as me and realises this is pretty much impossible without the walk taking at least twice a long and me getting very frustrated!
I needed to find a method where I could teach heel but still go on our normal walks.
Easy solution - make his lead into a figure of 8 and he walks beautifully but I don't want this to become a permanent thing. I only use in really exciting situations.
So instead, we start our walks using figure of 8 lead and once we are in our stride I can slip it off his nose and he'll continue with a loose lead. If I feel him getting ahead of himself again, I can correct (I usually just stop). It also helps if my hand is in my pocket so there's no tension going down the lead (very Dog Whisperer!).
I can now get about half way round the walk with no pulling at all. Surely some time in the future I will be able to get all the way round?!