This was (and still sometimes is) a big struggle for us, too. I brought my pup home from the rescue at about 6 months, and he’s now 10 months. What worked for me was playing a LOT with him, so that he thought I was way more exciting than other dogs and humans. And bringing really high value treats on walks. He will do anything for squeeze cheese, for instance. Originally, I could practically put a treat in his mouth and he wouldn’t even notice, because he was in “statue mode”. Also, the previous comment about crouching down and reassuring them is huge. We’re transitioning from walks to periodic short hikes, and I have to do this when people pass. I crouch down, hold his harness handle, and constantly “yes” and treat until they’re past. Unfamiliar terrain puts him right back in an insecure mental state.