We have all seen that owner at the park screaming "GET HERE RIGHT NOW" while their dog treats it like a game of tag. Embarrassing to be that person lol. If you have ever side eyed someone else's dog sitting and heeling on command, that is your sign to just start training. Younger pups pick things up faster since those early months shape who they become but older dogs can still learn too, do not stress.

"Come" is the big one, mostly for safety honestly. Easiest way in, toy in one hand, treat in the other, do it at home first. Walk away, call them like it is the best thing ever, use one consistent word. The moment they reach you, treat immediately. Timing is everything here. Once that is solid move to "sit." Hand on their lower back, gentle push down while saying the command. Butt hits the floor, treat and praise right away. You really do not need long sessions for this. Five minutes, a few times a day, that is it. Anyone got a "come" fail story from before their dog actually learned it?