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Maybe it was because I trained my first driving mini when I was 10 and was a little fearless, but I had a routine to training the minis to drive. It worked for me, as I trained 9 excellent driving horses. They were respectful from the ground already, and their 3 year old year I put the harness on them for the first time. I'd work with them for an hour or so, to teach them how to turn and stop. Second day, they would get a refresher course, and get the cart hooked up for good measure. Third day, I was in the cart, and away I went. I only had one mini try to run away on me, but I got her attention back after a few strides.
I went to look at a stallion to breed my mare to (like 8 years ago, I never did it though) and they were working with one of their new horses. Their son did the training as well. He would put the harness on in the round pen. He would put side lines on one side to teach the horse how to turn. When they were spinning around that way, he would hook up the side line to the other side to teach the horse to turn the opposite way. Then, he would go get the cart, hook them up, and let them go in the field. I wasn't quite that brave.... But he said he'd never had one flip over, and if they attempt to run off, he let them. They eventually got tired, and when he came back with them, they were great. He would have a mini trained for a show in a week (headset, gaits, and all!!)
I'm sorry I can't help more, Range. This was how we taught our horses, and we never had one flip over, rear, or kick at the cart.
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