When you're teaching heel (loose leash walking) this is a commanded behavior—just like a sit or a down stay. If you want to give your dog more freedom on the walk, use your release word (mine is “break”) and let your dog have a little more freedom on the walk, such as having the freedom to use the bathroom. Another thing you can do is tell your dog to use the bathroom while on the walk. Stop where your dog normally goes and tell him to go potty (or whatever command you prefer). You can even teach your dog a more casual walk command. For example: I tell my dogs "with me" when I want them to stay within 6 feet from me, but not having to stay directly in heel position. Lastly, even when the dog is released from the heel position, don't let him pull on the leash. If the leash gets tight, pull him towards you just enough to make the leash loose again. This gives him the freedom to walk anywhere he likes as long as he is not pulling on the leash. I'll make a follow-up video to this command, to explain some of these common questions in more detail.