Unfair on dogs to never be able to run around. We take ours to the woods and the beach off lead. The oldest one never moves from his stick/ball and has no interest in anything except playing catch. The youngest one pretty much sticks to him, but will have a little wander always within touching distance of us. If I see someone on a bike or horse I tell her to sit and she sits, if I call her she comes right back to my side. We also have a large green area next to our house that isn’t used by anyone, even kids, and we often play frisbee out there with them, again they never wander off.
They love their off lead time and are well trained. I wouldn’t take them to a restaurant, we have been to a pub a couple of times after long walks, and they just sit at our feet (on a lead).