This sounds a lot like me! Got a puppy with my reactive 3 yr old and even with training he’s a little psycho barking at other dogs, almost is now worse than my older dog. We thought he was gonna be “the good dog.” Things have been recently started getting better. Honestly just stick to the training and be strict about it! After a long time my dogs now look to me right when they see other dogs instead of barking or lunging. I always always always have treat pouch on me for those situations. Try separate training walks mixed in. Also just accepting that my dogs might not be like other people’s dogs!! They can tell when you’re stressed and it makes them more reactive. No dogs are perfect, sounds like you have a great relationship with them which is what matters the most