These items in the subject line have been pointed to four weeks and longer but now they are clear.
Subtract every tiny bit of energy in the lower legs from forward movement. Glad about that?
Jerk and tug and poke and prod all you want. The horse is in the motor only know how to respond to firm and smooth pressure. Knock yourself out.
Put that lower leg energy, and the jerking, into the forward movement! It's nice.