Does your dog understand that they are disobeying you and that when it does it goes home? Does it sulk when it goes home? I am guessing no to both of these because it is unable to associate punishment to bad behaviour that was done 5 seconds ago let alone the timew it take you to get to the car and hoem again. All the dog sees here is "When I come to you or you come to me the likely hood is I am going home, therefore I want to play so i won't come back and if you want me you come and get me as I don't want to go home".

Don't mean this to sound harsh but I will be honest with what you have written - it sounds like she doesn't respect you, she respects the treat. If you have been using the treat a lot it will become a given. Dillon is the same. He will have to be told a few times and even have to have a little pressure on his behind to sit but put a treat in front of his nose and he sits quicker than a 5yr old playing musical chairs. He'll do all the other stuff first time more or less but I didn't use food treats I used a toy and gradually phased it out unless I am teaching him a new trick or reinforcing an old one.

Try just sitting with her on the lead at a distance from "her patch" so she can see the other dogs walkign through it, sniffing it, markign it and playing in it. Do this for as long as it takes for her to calm down and correct any barking, lunging or other poor behaviour until she relaxes. If the other dogs don't react to her she will soon calm down.