My dog seemingly gets annoyed when freedom is removed for even a second or two?

For example, he knows his heel command (he does it in situations where he wants to, it could be the exact same location, and one day he does it, one day he doesn’t) When I ask him to do it he’ll come closer to me, but he’s always trying to move away to get back into the environment, after a few steps he’s already way out of position and I have to call him back into it, then if I try to use a treat to guide him, he will refuse it even if he was taking them before? He also does this if I have to pull him away from something like an exciting smell, he’ll stop listing to me and taking treats, and from my view as a human it appears that he gets angry or frustrated when he can’t get what he wants. It’s becoming very annoying. I want him to say be able to be called into a heel to walk through a narrow space or something, but if he refuses to do it, I can’t use a treat to help guide him, and I can’t use the leash to guide him because that makes him even more resistant. I don’t feel this is a matter of working up in more challenging environments as, as I said before it could be the exact same location and differnt reactions to the command each time. He CAN do it, as he proven to me before that he can, but most of the time he acts like he can’t be bothered and just try’s to brake position and run off. I’m kinda at a loss.