I just saw the other posts after I'd already entered my other one.
Because of this I've purchased much smaller leashes (<4 ft, laws here say must be 6 ft or <) and usually have them on a heal on either side of me, so they're always close just in case. They've lost a lot of their freedom on a walk which is not really fair to them, but what else can I do. I've done the "NO!" or "GO HOME" to the other dog, sometimes works sometimes doesn't, but I admit I haven't tried stepping in front of them. Unfortunately picking them up is not an option, my 10 lb RB terrier X it was, but my others range between 60-90 lbs.

I confess I'm about ready to give up on their weekday walks (weekends I have more time so can take them elsewhere). We have a very large fenced yard so they have a place to take care of things and run around, but 3 of mine are extemely high energy, hence the extra walks.