I have to tell someone who understands, and I am pretty sure this is the place 
I have two little rescue dogs, both from different but very sad backgrounds. We had to almost start from scratch with them both and they have come on amazingly. The massive fly in the ointment has been recall. Bloody recall. For months we have been going to classes and practising every day, but out in the real world, they would just turn feral off lead, leaving me tearing my hair out.
They were never nasty, but a nuisance to other walkers, and really fast. They could be out of sight in no time, so they have been walked on lead, except for an occasional experiment in safe areas.
I let them off on the beach today, for the first time in a couple of months. I was almost covering my eyes, and holding my breath...
They raced up to a friendly looking dog, had a little play, and when I called them, they came back ! And they did it over and over...
I have dogs who can go off lead! Off lead! A whole new world has opened up. We spent two hours there, and they played the whole time. Only my overwhelming need for a wee drove me off the beach, otherwise I would have spent the whole day there 
I know that we will gave bad days but today... I feel like a lottery winner!