Find a new dog walker. Both of you walk Hope together for a couple of days and have play sessions with Hope together (paying for the person's visits, of course) before the walker is on their own with Hope. That's what I would try.
And there's no way I'd let Hope go anywhere with the old one. I wouldn't subject my dog to a person that caused her to behave that way. I don't care how inconvenient it was for me; if my dog was acting that way with a person, I'd err on the side of caution and have my dog's back.