kjc gives good advice. It sounds like he came through his past relatively unscathed, which is great. Try to veeeeeeeery gradually get him used to other dogs. Start as far away as you need to, and give him a treat every time he sees another dog.
You might also want to check if it's a particular type of dog that bothers him. He may fear large dogs, or fluffy dogs, but be okay with small, short-haired ones.
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