It’s funny that you posted this when you did, because I just had a lesson with the puppies and we were working on the beginnings of heeling a figure 8 (teaching them to swing their rears backwards when I turn towards the inside and to hurry forward when I turn towards the outside) and I commented to my trainer that I’m so used to Chloe who “just knows” how to heel a figure 8 that I’d forgotten how much goes into it!