Build your relationship first. Get to know your dog's temperament, likes, dislikes quirks and drives. Build up their trust in you and the obedience follows. Too many people have a dog who listens while leashed but never off leash. Nurture before Nature.
Recalls, boundaries and leave it are important for distractions and impulse with a dog you have a relationship with. No amount of treats or bribing will work on a scared dog or one who doesn't trust you. Too many people rush their dogs and go off emotions instead of going at your dog's pace.
Those well trained dogs who heel off leash? Those owners took time to bond with and train their dogs. If you learn how to fulfill your dog mentally and physically, you will have a friend for life.
There is nuance to everything but majority of people who have offleash dogs who have a wonderful recall without bribing(e collars, treats, toys) are those who have a strong relationship with their dog. Practice, structure, love and patience makes a great pet.
On that note, all dogs are leashed when requested, around traffic, horses or machinery. Be a responsible owner and set your dog up for success.
