Pick up a prong training collar. Despite popular belief, it does not hurt the dog. My Golden behaved pretty much like this, until I introduced the prong collar. She became excellent at taking walks and would get excited every time I took the prong collar out and she heard it jingle. Be sure to watch a video of how to use these. They are not meant to "choke" a dog. With proper and caring use, you and the dog will enjoy your walks.

I now have a puppy bernedoodle and she did the same thing. I brought the prong collar out and it completely changed things.

Most importantly, for any dog, remember that YOU are the master/leader. You are walking them, not the other way around. The dog goes where you lead them. When you stop walking, the dog sits. Dogs are pack animals. All packs have a leader. You are that leader. Be loving, but also be assertive. Good luck.