Mesach, been there with Elliot. 
Just part of growing up. After the Chiros, three different kinds, Vets, teeth floated, sheath cleaned, saddle fitter, custom saddle and wavey girth…enough was enough and I let the trainer take care of it.
Balance is Elliot’s biggest problem, low in front. Along with the fact that I revel in his slowness, and we get to plodding along and not being in front of the leg.
Like I said before, our love for each other is out of us both being LAZY!! haha 
I wish I was as wise as my trainer, I could give you all sorts of good advise.
Because in the 5 months I have been with her, Elliot and I have improved so much.
There are all sorts of things that with work made it possible for us to stop the swishing tail, the kicking out, the head in my lap attitude.
It makes me teary eyed thinking about how nice things are going now, which can only mean I have jinxed us and the winter is going to be HECK!!!
haha
Seriously, many of the things I have read here for you to do are what we did.
Now for RF aka Yeehaw!!! 
My concern is out of my friendship for you and being a Mother.
I know you will wear your helmet, forever more dear. 