My Moose-dog is good with recall - I won't say perfect, he's been known to ignore me when he's getting attention.
But Bat-dog is not a good recall dog. She catches wind of a scent or a lizard and she's gone.
One trick I use is the double leash. As long as Moose-dog comes back, Bat-dog has to follow.
If we're in a place safe for off-leash, I leave the connector leash on between them. That's how Moose-dog learned - as a puppy he was connected to Dog - she came when I called them, he had to come with her, and he learned to come when called. Bat-dog learned that way also, but she never believed it was a requirement - more that Moose-dog is a wuss and won't ignore me. :)