Barking dog.

their are many reasons a dog might do that, i should need more info about the living conditions of your dog and what kind of neighboorhood well what kind of garding.. whats there to see, what toys do he have, how often does he go outside..

I don't doubt he is well taken care off and that the life is normal.. But you need to figure out what triggers the barking.

how old is your dog? could be that he doesn't get enough distraction or doesn't go outside often enough to get familiar with the surroundings.. the positive act when he is quiet can work but you need to be willing to spend allot of time on it.. and be consequent in doing so.

I hate that in dogs too. I am fortunate that my neighbor has this little dog that barks only when he sees a stranger and it's a soft bark.

I think you might join a dog obedience training program check out this site as an example
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You can train your dog yourself, spend time with your dog, teach it to sit, come, go back, fetch ball whatever, discipline the dogs mind, be firm but gentle otherwise find a group of dog lovers, obedience school and spend time with skilled / semi skilled people training there dogs.
A dog is a pack animal the head dog would knock it into shape, you should be in charge not the dog, same as you wouldn't let your kid play chicken with mack trucks, rather instead adopt the thought that you are the problem not the dog so fix it