Kiara is only ever left off lead when we are at the beach. And even then, I often put her on the lead because I get paranoid.
Kiara has one of the best recalls I've ever known in a dog. She rarely wanders from myself or someone in my family. She has no prey drive, little to no interest in other dogs or animals, and couldn't care less about other people unless they are throwing a frisbee or tennis ball.
However, she still ran off one day because she was spooked. She will never be allowed off leash in a neighborhood again.
I often put her on a 30ft leash and allow her to run with that in our front yard. If her recall doesn't work I can easily run atleast 30ft behind her stepping on her leash.
I trusted her but after her missing for 5 days, that trust has been broken, and I will not trust any of my other dogs off leash in a urban area again.
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