Nilla walking problem

Nilla has a problem if we walk as a family and don't stay together.
Yesterday we went on the trail and two kids jogged while the other two walked with me and the three dogs.
Nilla whines and lunges to follow.
I tried stopping and asking for sits and rewarding with cheese until they were out of sight.
She would do this but then as soon as we would walk again she would whine/lunge just be annoying.
Then other people would jog by and she would get worse!
Should I only walk her if we all stay together?
How can I try to fix this?