I also kindly disagree with the amount of respect you can gain through offline work. However, it's how you go through with it, that determines the amount of respect you will gain. I watch people at my stable have less respect from their horses on lead than I do from my mare off lead. However, I have spent oodles of time working off and on lead with my girl to earn that respect and trust, too. It doesn't just come, it takes work. I love Clinton Anderson and Chris Cox both, Stacey Westfall has good stuff too. There are lots of good trainers to choose from.
If your horse turns with hip toward you, just immediately send him back in the direction he came from; and make him move his feet a little more. I had the same problem with my mare for quite awhile; she wasn't consistent in turning toward me, so I had to do that sort of thing for awhile. I would just get on her tail, and turn her a bunch, and make her hustle her feet; when ever she would turn correctly, I would allow her to slow down a bit. It woke her up, and made her pay attention more, and also helped her figure out that when she turned correctly I left her alone, meaning that was the answer I was looking for.
As far as yielding his hips, either use a small crop, or the end of your lead to signal him to move his hip over. Start by simply moving in toward his hip, keeping his nose tipped toward you as you do so (so he can't swing his hip into you, he has to swing away), If he doesn't move by 'suggestion', start lightly tapping his rear, and continue to tap until he yields the hind end away. Make sure it is a 'true yield' of the hind quarter as well, by watching to see that the hind foot nearest to you, moves across the opposite hind foot. Start out small...one step away, and stop and praise (I just rub the horse). Always work both sides of the horse.
"The ideal horseman has the courage of a lion, the patience of a saint, and the hands of a woman..."