You need to work on an emergency recall command. The good news is: this is the most fun training session you will have with your dog.
We use "PEEKABOO" as the command with our dog because 1) It's easy to say in the exact same way every time (where the sound of 'come' or their name can get corrupted by your mood, especially if you're scared) 2) When else will my dog get to hear "peekaboo"? This word is special AF
So, we have a game where if we call PEEKABOO, we run off and hide whilst carrying the most amazing treat ever (roast chicken, cut up hotdogs, bits of cheese, something DELICIOUS) and when our dog finds us, she gets a bunch of praise and the aforementioned treat.
IIRC, we scaffolded the game by being visible the first few times we played so she made the association "PEEKABOO means come and get something bloody marvellous" but moved quickly onto hiding from her.
(This is so she gets used to the idea that we're not always visible when she's recalled, and she has to figure out where we are)
We do "refresher" sessions of the game at home with her favourite treats but we don't need to do it so often. This is the one trick where you don't try to wean them off the treats for doing it.
It now means that when we are in the dog park and she's getting into something we'd rather she didn't, we can call her back every time. (Also, if she's hiding in the bushes in our garden) We do sound like idiots, I'm sure, but it's a small price to pay.
thehappypuppysite.com/emergency-recall-for-dogs/