Sounds like Sam has built some trust in you and that's a good thing. Everything should be on Sam's terms and Sam's time, force nothing on him. Dogs being on their backs is a sign of trust, in the wild dogs do not lay belly up, this puts them in a vulnerable position, in domestic dogs it's a sign of trust in their humans. But don't take for granted you can now pick him up or put his harness on, he is still learning about "who you are" friend or foe. With Sam everything has to be done / taken in baby steps. We have two hands to scratch two bellies lol.
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