BigV, you will have a different relationship with your dog if you use it for hunting or other work, no question. Most Basenji owners don't do this. My first Basenji was reliable off leash, as I took her with me when I rode my horse. She learned early if she didn't come when called I could take off and lose her, since she couldn't catch the horse. It made an impression on her and she paid attention after that! I agree you have to lay down the ground rules early and be consistent in what you expect. Too many people let things go and then wonder why their dog pays no attention to them (same with kids!) If I issue a command I expect it to be obeyed, and if I don't have a chance of enforcing it if ignored, then I won't give it. (it's a terrible idea to let them think "come" is an optional command!). If I am not in a position to enforce a command I will "suggest" rather than order.
Basenjis certainly do read people well, and if one challenges your authority and you let them back you down they will be quick to take advantage. I find tact goes a long way to avoiding confrontation, but if push comes to shove, you have to be the boss.