For several decades and thousands of walks I was towed back and forth by a succession of powerfully pulling beagles. I refused to use a choke collar or a pinch collar for reasons you probably understand. It was like walking a tractor.
A few days ago I bought a "NON-PULL Mesh Harness" and put it on Calhoun, my beagle pup, when I took him for a walk. What a difference. Gentle pressure ends his pulling but causes him no apparent pain. He still does the beagle thing casting back and forth with his nose to the ground and I wouldn't have it any other way, but the tug-of-war is ended.
I wish this rig were available years ago.