1 and a half year neutered Corgi socialization issue

Hi Everyone.

Came across these threads doing research trying to figure out how to help our little corgi (Loki). With all the amazing responses I've seen on other questions, I thought I would give this a go.

Quick background info;
1) Corgi was adopted at 4 months and grew up with us
2) Used to be incredibly food hungry - now no longer an issue
3) LOVES humans & is listens really well to commands (sit/come/stay/down/shake paw/play dead/leave it etc.)
4) Has moved with us 3 times (2nd time around, we were in a neighborhood with what seemed only aggressive dogs and we could no longer socialize him as much as we did before....) - this is where the problem began.

The issue:
- Whenever Loki approaches dogs, he becomes relatively timid, sniffs, but then randomly lashes out (never physically bit another dog).
- This has in turn, turned me into an "anxious" person when I walk (which I know doesn't help!).

Any ideas on how I can stop our Corgi from feeling so timid and lashing out at other dogs whenever he encounters one?

Really appreciate all your help!!!

Pic below for reference