Dear Doctor: Dog is too modest to go while on the leash

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My dog will poop only when he is off leash. It is a problem because he is very reactive, and Ive sometimes let him off leash to go to the bathroom while worrying that he might chase a bicyclist or jogger. I want him to be able to romp off leash sometimes but not all the time. How can I get him over the modesty hump?
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