His stubbornness seems to come from a place of uncertainty, as far as I can tell. For example, he'll be a pro at going up and down the stairs one minute, and then a few hours later he will absolutely refuse to go back down. No amount of tugging or tempting will convince him, and we eventually just close the upstairs doors and come downstairs until he decides to join us. He'll do something similar outside - one day he'll be all for walking, he'll pop outside and trot around the neighborhood like he owns the place. The next day, he'll refuse to step outside, and if he does, he'll refuse to do his business (even when we're certain he must have to go). He'll pull with all his might to get back inside. Trying to balance being understanding about what he wants to do with making it clear that we're in control and make the decisions. I'm such a softy and would rather follow his lead, but don't want to set the tone of him being the alpha in our home.
Definitely no behavioral crisis (thank goodness), but there are many times where just being able to have a reliable "wait" command would make life much easier for all. We have two cats who are struggling to adapt to Benny's arrival, so rather than having to keep them separated or keep him leashed, it would be immensely useful to be able to quickly stop him him getting into their food or personal space or what have you. He's gotten pretty good with "look at me" which at least distracts from his interest in the cats.
That said, I love your perspective on the alternate philosophy. I had never considered that - almost thought I was doing him a disservice by not providing successful mental stimulation through training - but maybe you're right that it's enough to take care of him and help build his confidence and interest in new and different experiences (he's not a huge fan of anything new and different, but realize how important that exposure is)... we're definitely trying to be the best companions possible for him - just want to find the best ways to keep him entertained and engaged (when he's not snoozing away on the couch). Thank you for the thoughtful insights!