I can understand how stressful walks must be for you always having to worry if Baxter might hurt another animal or get hurt himself. But the other side is if you don't walk him he will have too much pent up energy and that is not fair to poor Baxter. I would look into finding a trainer/behaviorist who specifically deals with aggressive dogs.
Here are a few links for Ohio
Find a Board Certified Veterinary Behaviorist ACVB and
Behavior | College of Veterinary Medicine