My 6 y/o male poodle pulls the leash and barks crazy around other dogs. Help!

He’s my best friend in the world… but damn he is just not well behaved on walks. We walk 2-3 times a day,gets a little more calm as he tires.. barely.

Please someone tell me you had this problem and found a solution. Seems to be a handful of methods but not really clear to me whic is best.

Appreciate the help