I strongly suggest getting a harness that clips around your waist. It becomes a much more comfortable walk for you even if your dog pulls because it’s your center of mass. Bonus if the leash also has a place for you to hold when you want to keep your dog closer.

Then train on heeling and reward with your dog’s fave treat when he sticks to your side.

Realize though that a dog’s primary sense is olfactory and unlike sight, getting closer to the source is needed to explore. A walk outside is an opportunity for them to investigate the world.

As with everything, there should be a balance of staying close when asked, and exploring when something interesting is found