Here I have to say 'hey, not everyone has got cheeeeese in their pockets you know' when some of mine expect a passer by to be their new best friend!
It might help with your frustration if you stick to the about turn method (using a body harness as well as the collar and a double ended lead).
Write down your criteria if you like, you dont have to have a 'locked on your eyes not actuallylooking where im going you could walk off a cliff and id just plummet to my death with you' competition style heel from your dog.
My requirement is that the lead is kept loose and the dogs head/neck are by my thigh (or knee dependant on dog heehee).
My other requirement is that when asked to do something, they do it without me repeating myself. I dont mind if a sit is sideways or a down is flat out on its side, but i DO mind if i am ignored (so i set it up so i am not ... i dont ask if i think i will be, i make sure theres good payment to be had if i get what i ask for).
I found i got really really hacked off with attempting to get from A to B without the dog pulling me. It would take hours and ive got four dogs who all have their individual needs, it taking hours to get to the park is not really an option.
What actually IS an option though..... is not going to the park! Yes..... really! (Or wherever, not doing that circular loop you do every day, not going from a to b and back to a again, not going .... doesnt matter..)
When you train for its own sake rather than 'on the way to...', you immediately remove YOUR frustration at 'jeeeeeez this is taking blummin forever we will never get there'.... AND you remove your 'oh well its the last 10 yards so pull then....' AND you remove your ' oh FFS... its nearly time to set off home again and we only got half way'.
Removing all these things is removing an opportunity for failure.
The other thing that happens is that when walks stop being a trip from A to WOWOMGREALLYEXCITINGPLACE.... and start being training sessions, your dog thinks about them differently as well.
The lead and harness and what have you going on become a signal for 'time to work and earn rewards and ooh what will i do now'.
After the first few days of very seriously NOT going on a set route or to a set place, the excitement that causes a dog to pull in an effort to get to somewhere faster diminishes.
What you replace this with though, is (asides from needing to not care that your neighbours think you have gone loopy) set, timed training sessions on the lead, outside.
So instead of daily 'we go to the park and we go this route and we are home by this time'..... you go outside and you do 'not pulling on the lead doesnt matter where we go' for x amount of time.
You will probably find your dog is shattered after this kind of walk, so build the time up slowly (do more, but shorter sessions at first, to make up for missing out on fewer longer ones).
Stick with it, it might well take weeks, and to set yourself up to succeed more easily, avoid known routes, and avoid busy places at first.
You might think you are going maaaaaaaad about turning and quick marching over the same few yards of pavement but it will pay off in the end.
At the same time as this, you do also (more so for some people than others, especially for those whose dogs now view them as a dead weight, a land-anchor to be draaaaaaggggggged everywhere but otherwise serves little purpose) have to reinvent yourself as THE most exciting, unpredictable treat 'fruit machine' (and hidden squeaky toys and hidden scent filled fur dummies) ever.
That means springing surprises (of the nice kind!) on your dog, keep a clicker and treats on you and in pots around the house (in none-surfable places!) and having little training sessions when you are sat watching tv, sat at the computer, cooking dinner, hey ive even clicker trained whilst i was sat on the toilet! (no one gets to go to the toilet alone in my house
).
It also means takign the edge off your dogs mind with food that requires working at (kongs, frozen stuff etc) and puzzle solving things (nina ottoson toys are great for this).
I do all this with my dogs, especially my super reactive lurcher and the result is that when i open my mouth to say ANYTHING, i have four dogs all at least semi (hey one is a deerhound who thinks she knows it alllll!) interested and at least two are likely to start offering me behaviours they already know in an attempt to win the first prize.
That does transfer to on walks as well if you keep it up - it is astounding the number of people who trundle along saying (verbally or otherwise) nothing to their dogs, havent seen the things that have caught their dogs attention, or are likely to, and give them no reason at all to pay attention to them, until the dog does something they dont want him to do, which for these people... happens very frequently and they wont have a clue why.
Anyway, once 'a walk' means 'opportunity to earn lots of treats and do things' instead of 'go to B and hurtle' or 'see what we can see'... THEN you can start chucking in going to the park, or getting wtihin leash distance of a lampost and saying 'ok go sniff' etc