My dog doesn't like going on walks with me but will go on a walk by himself. Am i the problem???

Hi, thank you for taking the time to read this post.

My dog Milo is getting really out of hand. About 6 months ago he just up and decided that he no longer wanted to go on walks with me. I'd come home, settle in and change from my work clothes into casual clothes and get the leash so we can go for our afternoon walks. We get down to the end of the driveway and he just lay downs. I try tugging on the leash and picking him up and pretending to run away but nothing. He stays at the end of the driveway looking at me like an idiot. At first i thought OK, he just doesn't want to go for a walk. But now I'm getting really concerned! He only poops if i drive him to the park, (the park is a 5 min walk) and he pees in the yard on my plants -____-. When I'm gardening or just hanging outside with friends, i let him roam around the year freely. I used to trust this but now i don't. If i don't keep an eye on him, he walks out of the yard and wonders around the neighborhood. I believe my neighbors think I'm a terrible dog mom for constantly yelling "Milo" around the neighborhood when he decides to go on these solo walks. I have no idea what to do. I really miss our daily walks, i don't know what changed and why he rather go on walks by himself and not with me. I would be ok if my neighborhood was safe, but i live in a fairly suburban urban neighborhood where cars drive by frequently. Someone could kidnap him, call the dog pound or hit him and leave him to die. I would die if anything happened to Milo. Does anyone have any thoughts or suggestions.

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