Hi Jimmy.....Thought i'd add my two cents worth..You have a kelpie ,which as you know are bred to work.
he , is full of energy and is naturally inquisitive. I have 2 collies one is ok on lead the other pulls till he is almost choking himself. i tried the repetition , but no good with this determined boy. i purchased a"sporn halter" rudducks make them, from the pet shop. this halter , when he pulls applies pressure to his pressuren point between his shoulders at the back of the neck. He only pulled a couple of times and now walks happily beside me no fuss and enjoys his walk.
Sounds drastic , but it works on macca , and did not squeal or yelp in pain when he pulls on this halter.
When it's timme for his walk he runs to get his lead and halter !!!!
Obedience will give both the dog and you the guidence you are seeking. Good luck , you are obviously doing well with him as you have overcome his other problems when walking him. the main thing is you have not given up and are looking out for the dogs best interest.!!
I am certainly no dog expert, but am happy to pass on what orks for my dog and me. you guys will find what works for you so good luck with it all. Let us know how you go......