I prefer my dogs to heel when I'm walking them but occasionally I'll let them out ahead for a little while and eventually call them back to a heel. As long as they're still paying attention to what I'm telling them, then I don't have a problem with them being ahead unless they begin to pull.
ETA: As fa as the door thing goes, I do not allow my dogs to walk through a door way before me unless I ask them to. They all know that and will wait behind me until they here their release command. Same goes with stairs. I don't do it to prevent dominance though, I do it for their safety and my own. I hate it when I go to someones house and their dog bolts out the door before me or another person or practically knocks you down the stairs because they want to go first.
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