I have seen such dogs that have been rescued. Some bounce back well. I have seen one German Shepherd that was rescued from a very abusive situation, but is still able to “read” people. Others wind up have trouble trusting other humans. I have seen this in one rescued golden retriever. The owner had several golden retrievers, and this one was particularly out of character for the breed, compared to the rest of his dogs - defensive, showed some definite fear of strangers. I asked the owner if that one was a rescue adoption, he replied that it was.
There is always some degree of training involved, since there is always some degree of psychological damage to the dog.
I love Goldens.
My husband having a little talk with my Golden who was stealing tomatoes from off the bush: