Would you be surprised to learn that I never give my dogs commands? I never force my dogs to "obey commands." My dogs rarely opt out of a training session or work of any kind, and if they do opt out, that's OK with me.
Anyone who has been in performance sports for longer than a few trials knows that once you walk into the ring or search area, the dog has to WANT to work. The dog MUST OPT IN to the task. Maybe there is a dog sport out there that allows a handler to compel the dog to perform, but I don't know what it is.
I train my dogs to opt in to work from the very first training session. The dog must choose to work with me or there will be no training session. The "force free" training philosophy requires changing the trainer's mindset from "the dog must do what I command" to "how can I set up this training session so the dog demands to work with me?"
When I went to my first dog training class way back in 1992, using force and compulsion was the only way taught. We dragged our dogs across the teeter. We yanked the dogs through the tunnel. Poor Robyn, she could have been a really good agility dog if I hadn't been uneducated about training. Sorry, Robyn!
When I took my Cairn Terrier to "obedience" class in 1994, I was taught to pop that leash HARD when he got out of heel position. I walked out of that class with a dog who didn't like me, and definitely didn't like training of any sort. We never went back to "obedience" class, and I told Walker that he was just going to be untrained if that's the only option.
Thankfully, Walker went on to compete in agility, rally obedience, and other dog sports. I found better ways to shape behavior, and better methods of training using markers (clickers, mostly).
I learned that behavior that is reinforced is more likely to be repeated. I learned that reinforcement comes in many forms, not just treats. I learned that cues can be added to behavior, and it's really hard to add behavior to a cue. So get the behavior first, THEN add the cue. And I learned that a cue is just a message to the dog that "you can earn reinforcement for this behavior now."
I practiced shaping/marking/clicker training to improve my timing. And I practiced more. I practiced shaping as many dogs as I could, as many behaviors as I could, then I clicker trained my parrot to do some simple tricks. Chicken camp is still on my bucket list.
I learned how to set the environment up to help the dog get reinforcement history for a behavior I wanted. I learned that ignoring unwanted behavior doesn't often work to make it go away, because unwanted behavior is usually being reinforced.
I've learned that force free training is really, really difficult for many people to comprehend and implement. People don't want to give up what they're comfortable with, even if their dog is not performing well in sports. The learning curve is steep, the mechanics of marker training takes practice. Correcting the dog is quick and easy for the trainer (not too fun for the dog, though).
If you are interested in learning about shaping/marker/clicker training, there are lots of resources online. Here are just a few resources:
https://www.youtube.com/@kikopup
https://www.youtube.com/@dogsexplained
https://clickertraining.com/