I let toby off leash all the time.... it was my moms fault first, i was an overprotective mama and then his grandmother came along and let him off leash while we were all on vacation at fernwood
... BUT he knows the come command... AND he doesnt EVER get too far away, i have had such a hard time of it with my arthritus and my mobility the last year that he always stays close to me "to make sure im ok" (its very cute... when we were camping i had trouble climbing over a tree and toby (who could just go uner it) sat and waited on the other side of the tree like he was saying "CMON MOM!!!!" HURRY UP...lol)
Anyways, ive trained him not so much to answere to Come (which he does respond too, and he does come) but also to sounds. I use the 'ch' sound when i want him to pay attention and stay with me (when hes getting to far away) and i use two short 's' sounds to tell him to come (which he obeys as well) i find it easier than yelling at him because we live in an apartment complex.
Anyways, getting off track.... The one restriction that i put on myself is to not EVER let him offleash at night... he is a small dog and gets lost in the dark easily.. but he gets to go in our courtyard off leash after he does his potty thing