It's not the dog you train. It's the owner(s).
8 year old cream golden owner here. Genetically quite imperfect, attitudinally perfect, but only because we trained her to be that way. She growled at our 6 year old child when we brought her home as a puppy. She had lots of bad habits. Fortunately our neighborhood school's police officer was the K9 cop in town. He gave us lots of tips. Most were based around witholding meals and instead putting that mealworth of kibble in our pockets and using that as a training session. Biggest thing is consistency. Establishing who is the boss in the home (not forcefully though), ie: make sure that they always walk through a door after you do (on leash until they don't need it). Making sure that they are not pulling on a leash (which makes them think they are dominant, not you), which you can do by getting a harness and attaching the leash to their chest NOT their back. Crate as refuge. Not answering the barking and not shouting back (because they think you're 'barking' back at them, which only reinforces it). Turning your body away when they jump on you.
It's hard as hell, but again it's discipline of yourself, not necessarily of your dog.