I have 3 dogs, a coonhound, a spaniel, and a husky who need some exercise. They do fairly well walking, I usually take them all at once with a belt around my waist. Spaniel on the left, Coonhound on the right, and Husky taking the lead.
Husky needs to be on a face harness 'cause he's stubborn, but the other two walk well with a chest harness with minimal pulling.