For starters, a lot of direction changes, using lots of body language to turn her, and really make her get out of your space. Frequent direction changes will have her start to look for them and will tire her. When she is getting "lighter" let her keep going in the same direction as a reward. Also, as she's changing, make her speed up and use some energy, then ask for a slow down, if she ignores, change direction again, etc. When she's doing well, stop. You don't want to overwork her all the time.
For invading your space, swing your rope toward her shoulder vigorusly and square up your posture and step toward HER. If she doesn't yeild let the rope get longer and longer as it swings and it "accidentally" starts tapping her shoulder. Stop swinging when she starts to yeild, whether you had to make contact or not. Basically, the posture is the signal to get out of the way, the rope is a back up, and she sort of "runs into it" if she's not doing as you ask. To her shoulder it asks her front end to turn away from you, toward the withers or slightly behind, is a lateral move away, toward the hindquarters asks them to scoot over. When you want a direction change, aim to step in front of her path about 5 ft in front of her to give her time to start to turn. Then signal to her OUTSIDE shoulder to keep turning and as she comes around, drive her hindend.