Bogen......biegen maybe? Bending it is
Lots of it, never straight. Just like in dressage, gotta bend first before you get the straight.
The one- sidedness....might have to do with her handicapped owner, might be just normal for her.
She can learn the leg conctact. Just keep checking her with tiny check-and release tugs until she's where you want her, accepting the leg.
Im pretty sure others have better ideas lol