It looks like she's very calm and you're able to walk her out. I had that experience with my cats and they always hate how the harness feels like chocking their neck. I think it's best if it's the one that wraps around their body and almost shirt-like, it doesn't really hurt their body.
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I had another type of harness before this one and I understand what you are saying, the one I had before seemed very uncomfortable for them, with this one they feel more free.