A canter and a lope are fundamentally different when executed correctly.
I do not do half passes to gain better control of my horse. I execute them in the competition arena to demonstrate his suppleness, strength and obedience to the aids - which are things I do school for. At the end of the day I am NOT focused on getting a better maneuver I am focused on training a better dressage HORSE as a whole. I also DON'T do training at home to get more buttons and cues. Dressage as a whole is a refinement of basic GO and STOP cues to the point that the horse is balanced on the end of a pin. Every day I am focused on refining these aids, not teaching new ones.
Please stop telling me how I train and what my goals in training are.
They say money doesn't buy happiness -- well happiness doesn't buy horses!