On command, Cole toilets when he's told, regardless of whether he is in gear. If he chooses not to go when I tell him to, then he's SOL until I next offer. He fully understands this. Off command, he toilets when he chooses, within reason. I send them out to the back yard at certain intervals and they have the choice to toilet or not toilet.
I taught the girls differently. They seem to have smaller, and shyer bladders. If Cole has urine built up and I point out a tree and say "potty" he'll go. If he doesn't go, it's because he really doesn't need to. The girls, on the other hand, will try to hold it sometimes instead of going when given the opportunity. Luna once held it for 2.5 days because of a shy bladder. We're long past that now and both girls will pee on command. Luna poos when given the opportunity, but Ruby will sometimes hyperfocus on something and forget to poo. So Ruby is being taught to poo on command. Each dog is different. But I digress.
I have a funny to tell on Luna. If I tell her to potty and her bladder is empty, she'll squat with a serious expression on her face and hold that position for about five seconds, then stand up. If I watch closely, I'll see that there is no stream of urine under her. So she's actually learned to fake pee! Ruby is too earnest to learn her mamma's trick. If I tell her to potty and her bladder is empty, she'll try very hard to squeeze out a few drops.
If I tell my dog to go, he better go regardless of whether he is wearing his cape or other gear, and regardless of what surface we are on. He prefers dousing a tree, but he'll go in a gutter or on a grate if that's what he's offered. He still better not think about toileting while he is on command without a release, again, cape or no cape. He can ask while on command, but he better not take action without permission.