What some wise, experienced, winning endurance person said (I forget who): Endurance is a partnership. Rider picks speed and direction. Horse picks gait and exactly where to place his feet. Rationale on gait was that horse knows how tired he is, which muscles need a rest, etc. And he was talking about well-trained horses, not those trying to race while ignoring rider.
As for canters, my own horse can canter along behind other trotting horses quite nicely. So if yours can do that rather than having to pass everyone, I’d say let him do what’s comfortable for him unless you notice it causing some problem. JMO.
