Skid, I also have experience with a service dog that was provided for more of "emotional" support, and by that I mean a dog that was provided for dealing with mental health issues.
Banjo was well trained, obedient and certified at the state level. Her owner did not take her out and about, but could have (the real bulk of Banjo's duties were at home anyway)
These emotional support animals are untrained and my real beef with them is that they are a public nuisance precisely because they are untrained. They lack basic leash skills, recall and basic obedience skills, making them a danger to themselves, their owner and the public at large ( example: dog gets lose, runs in traffic, unstable owner flips out and chases dog into traffic, car hits dog/owner, driver injured)
Service dogs are trained. They have recall. They will not leave their owners side without specific command. They are trustworthy under almost all circumstances, which is why they are allowed to go everywhere with their owner. Not only do they provide the owner with an invaluable service, but they also can be trusted in public.