What constitutes a public place?
When I walk the dogs it’s round big deserted fields and they run. They need to run, it’s part of being a dog. A constantly on the lead dog is not a fit one. If you walk a mile your dog will have run three without a lead, whereas the dog on a lead will have slowly walked one.
The answer is good recall. If you get a puppy, get that puppy off lead as soon as possible and reward for recall (puppies have a developmental stage where they don’t want to be separated from you, they naturally recall, teach it then).
But I wouldn’t walk them off lead in a town centre, or in a kids playground, or where there is a dog on a lead (I assume they are reactive). I’d put them on on a beach if there are small children in case they are the rapidly increasing number of dog phobic children.
I guess with posts like these a growing business will be private dog fields, currently only rented by owners of reactive dogs, soon to be rented by anyone who wants to properly exercise their dogs. Just as well I have my own land!