Well, you are doing fine, there. He doesn't seem the dominant type and personally, I dont' see then need to do a lot of whip cracking and such, at least for now. (I am just not the CA fan)
Do you know how to "send" him? Instead of leading him through the poles, you kind of lunge him through them. You are sending him ahead of you, or around you, and back, using your body to push and the line to direct.
Work on having him back eventually back up only off the feel of the leadline.
Try backing him in an arc to work on bend and suppleness.
Teach him to lower his head.
Drag the tarp , teach him to drag the tarp, hang the tarp up or wave it around a bit (with care )
Back him through a zigzag of ground poles
Bring the line around his whole body, around his hind quarters, then stand off his hip at 90 degrees to his hip and put some pressure on the line. Say you are on his right side, with rope comeing off his left, along his body on his left, around his butt and to your hand. He will see you in his right eye, but the rope is saying, 'move leftward for a release" . He will feel the rope around his hind qs and will try to move away from it. You move so that he stays in this 'wrapped' position. Only his following the lead line around (twirling to the left) will unwrap him from the rope. You have a steady pull on the line but give tiny reward when he starts to think about going leftward o release himself from this rope wraparound. Helpts to teach "follow the rope" feel.