The best is no harness at all. A martingale collar is pretty escape proof, but as mentioned Basenjis can chew. The leash is generally the target of choice and a determined dog can deal with it quickly when your back is turned! Personally I am not impressed with harnesses in general, because you have no control over the dog's head, and from watching people using them there seems to be a lot of difficulty controlling a determined dog, no matter how much the ads say they don't pull on them. Yes, they do!
@eeeefarm I have noticed that it's much easier to control the head with a collar. We use the harness to give our dog's throat a rest when we know it's going to be very difficult to stop her pulling e.g walking with another family in a country park surrounded by squirrels!
@JKent, I had a wide sighthound martingale collar for Perry, 3.25" across his throat, so I didn't worry about any injury if he should pull on it. Back in the day, we used to use thin chain choke collars (still used in the breed show ring, I believe) and somehow the dogs survived! It was the standard for obedience classes, likely still is. Harnesses can also be problematic depending on how they fit. Once upon a time the only situation where a dog would wear a harness was to pull a sled or for tracking.
I don't like harnesses. I read something recently that putting them on too young a puppy can do nasty things to their shoulder formation as they grow.
MUCH better to use a Gentle Leader as a training tool or as @eeeefarm suggests, a martingale collar. That way you control the head of your dog and can train it properly.