Whether your dog is friendly, aggressive, or reactive, you are responsible for your dog and it should be under your control at all times. If that means you keep them on a lead, so be it. If your dog ignores your recall command, I don’t think they meet the definition of ‘controlled’ and maybe they shouldn’t be allowed to roam free.
If the idea of BASE jumping from the Perrine Bridge in Twin Falls has you interested and scared at the same time, a tandem jump with a professional BASE jumper, might be just what your fear-factor needs.