Short answer: sniffing is how dogs take in information, and it is good for them. Letting your dog sniff is part of the walk, not a delay.
VCA says dogs have up to 300 million scent receptors, depending on the breed, and that sniffing is a great way to provide mental stimulation. When you let your dog pause and sniff, you are improving their mental health. The AKC says sniffing and scratching take concentration and time, and that giving your dog the chance to leave their own messages helps.
You can have rules and still allow sniffing. Reward loose leash walking with sniff breaks. See a sniff walk and a dog who pulls to sniff.
If sniffing turns into eating things from the ground, ask your vet.
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