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^Yup, we never pick up our dog either. If another dog appear to be excessively aggressive, we just body block and intimidate it. Most of the time, if they just want to socialize, we let them even though ours appear to be scared. By not picking them up, you helps establishing their confidence.
I'd say OP's case is nothing to worry about. Do it right and you'll be fine. There are no hopeless dog.
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