I just wrote a long post and lost it.
I tried the baby trot today thinking it might be just the ticket. Many years ago, I saw CdK have my friend use it on her horse and it was like a lightbulb moment for his balance. Didnt work so well with Rocky today. She went behind my leg and I had a very hard time getting half halts to go through. Finally, I just sent her quite forward, trot and canter, and was able to get her in front of my leg again. Maybe I'm doing something wrong, but I am also wondering if baby trot allowed her to "call the shots". She is pony-like in some ways. I am attaching a recent vid to show how she tries to manipulate me

It was at the end of a ride and she was ready to quit. As we approched the gate end of the arena she tried to take the reins out of my hands so I made her do a 10m circle and halt "up". It was kind of nice so I gave her a treat

. The all on her on she does a nice TOF to head us back to the gate. I make her TOF back which she does half way, reluctantly, and then puts both front feet on the railroad tie. Then she does a nice back, all her own idea. Finally, after another, stronger attempt to take the reins out of my hands, she submits like a little girl who knows when it's best to go along with mom.
https://youtu.be/vrhPM_KRkf0