There is 1 time and 1 time only that we're OK with Annie or Paul pulling on the leash. When I'm by myself walking Annie and Paul, I have to cross a street that is 5 or 6 lanes (depending on where I cross).
I stand there with either Annie or Paul, and wait for the cars to mostly clear. Then, I shout, "Cross" and they sprint into the street. We both run across the street as fast as we can to try to cross before getting hit by a car.