
I would walk them abreast so none is leading, this should not be too hared wirth the Halti's if you adjust the lead length accordingly. I can walk up to four of mine abreast (Medium size breed) but now I walk five I usually have 3 in front and two behind, but they choose their own positions within the limits of the leads length.
Are these dogs near enough the same age? I neve found mine would compete for pole position, but I never let them get ahead of me at all. Mine are all succeeding generations so around 3 years between each in age.