We do the same as you do with Roo. We walk around an hour in the morning and the evening and we walk for half an hour twice in the afternoon. We put Mirtillo on the flexi during our walk in the evening, so he can run and play before he goes to bed.
There is a lot of practicing involved. Mirtillo is now 22 weeks old and he can stand, sit, lay and stay (in both sit and lay-position while I walk in circles around him) on command. He can come on command and he doesn't pull on leash. When he does, I stand still and he knows I will stand there for an hour if I have to… so he returns immediatly (ok.. confession.. not always :p ). He can follow on leash and will sit when I stand still. We are now trying to learn him to change from side during our walk.
Mirtillo's favorite 'things-to-do-on-command' are: high five and of course giving kisses. Oh... and everything that gets rewarded highly: staying on the foot of the stairs while I run up to get a bone... and of course going to his place when it is feeding time 
On showtraining there are also agility obstacles.. Mirtillo LOVES those! Best way to reward him for nicely standing still and showing his teeth?? Going over the bridge and through the tunnel..
I believe every dog is trainable.. if you have enough time.. My sheltie-mix could sit, lay, stay and follow within two weeks. She never tried to steal anything and she didn't mind staying at home alone. The only 'bad' thing she did was lay on the couch. (totally forbidden here).
A basenji is a totally diffirent dog.. If you don't have a lot of time, I believe it is almost impossible to train them. We are lucky enough that we do have that time..
One but: I don't believe that every dog can learn the same thing. My sheltie walked off leash from the first moment I got her (8 weeks). When she saw something and wanted to go for it I only had to say 'no' and she wouldn't. I will never let Mirtillo off leash with traffic nearby. I know he will not listen when he sees a cat, dog, bird...
