I have done some of that.I guess I am in the minority here... I don't think rehoming this dog is an option unless you happen to find someone who likes a challenge and has a ton of experience rehabilitating dogs. Otherwise you are passing the problem along. Putting this dog in a home with no pets and no children is only management of the problem instead of fixing it.
I think GSDBESTK9 and Lies gave you very good suggestions. This dog needs serious NILIF to learn that you are in control. He works for everything, is on leash a lot and gets no privileges.
LaRen, Rogue has the potential to make you a better dog owner if you decide to step up to the challenge. It's the difficult ones that teach us the most. You have to decide if its something you want to do because I'm sure you can do it. If you don't want to, then you have to find someone who does want because just putting in a home with no other pets or kids or strangers is not helping him to over come his issues.
When it is feeding time he has to sit and wait for me to give him the ok so he can eat. He will not touch his food unless I say he can.
Every single time we get ready to go outside he has to sit by the door and wait for me to put his leash on and he has to wait until I open the door and say ok and then we can go out, so now he doesn't door dash.
When we go to leave in the car again he sits by the door and waits until I open the car door and tell him it's ok to get into the car.
He is crated while I am at work and he is crated at night.