Hello and welcome
Sorry you've joined because of an issue but please post some pics we all love photo's on here...lol
Have you taken him training at all? Maybe he needs to learn how to be around other people and dogs and how to shut them out?? Have you tried training outside with him in the park? I found this a great way of getting my lad to focus on me instead of what was going on around him. I think you need to get his recall 100%, so maybe whistle training might help?
I think if you feel nervous then your lad will be picking up on that so I would be inclined to leave him on a long line until you are confident with him off lead and I would only let him off once he's got good recall and focus on you outside.
Do you think it's excitement barking rather than an aggressive bark? A moving target is a good game for GSD's, he may have a high prey drive so he finds that rewarding.
Sorry for the essay of questions