Komodo dragons seem to only be about the size of a mid- to large-sized dog. Dogs have been used as pack animals, true, but they're pretty limited in that capacity. Speaking of dogs, they are perhaps the best-known example of taming a wild animal. There's also what appears to be an increasingly well-known Russian study that has successfully bred domesticated foxes.
Iguanas are already domesticated and can get fairly large. Of course, it would probably be wiser to try using a lizard with a shorter and/or stockier tail, and without ridge spines.
But they're related. Granted, so are birds, which are quite different from reptiles, but I'm willing to bet that ankylosaurus and triceratops are more closely related to modern lizards than modern birds. I will, however, admit my substantial ignorance even to what is known about the subject, so... Moving on.
Elephants are fairly slow-moving animals, particularly compared to other pack animals. They're capable of bursts of speed, but I rather doubt speed has anything to do with their daily use. And as you briefly mentioned with musk oxen, there are all sorts of cattle that are used as pack animals or for labour, at least historically. The vast majority of these have pretty much already been thoroughly replaced by machinery, but that's more of a practical reason for why we haven't tried doing this, not a theoretical one for why we couldn't.