I don’t agree with running a scared horse into the ground, and I expect no one on this thread does either. We don’t usually subscribe to that kind of “natural horsemanship.”
There are however many modalities of work on the ground. As needed, I longe with a line, free longe, do ground manners and ground tie both in halter and at liberty, dressage work in hand and at liberty (lots of lateral), obstacle work in hand and at liberty, and clicker training. It depends on the horse and the facilities you have access to. On days we have to share a space with other horses obviously I’m not going to have my horse running loose.
The Permanent Project Mare will free longe walk trot canter around me even in a big arena, doing gait transitions on voice and hand signals. Including whoa. She will boot it out and scoot into a gallop if she’s feeling good but she is never running out of fear. When a rider goes past our longe area I call her into the center of the arena to stand quietly so she doesn’t spook their horse. I can do all this on a longeline too of course.
My experience has been that horses really enjoy learning a variety of skills on the ground
Permanent Project Mare has a natural bent for obstacles and will head over trot poles or around the barrel just for fun. My Good Paint Mare is also interested in obstacles, excellent on the trails, can do some lower level dressage lateral and trot lengthening when she’s got her head in the game, and just loves loves loves all her clicker tricks. Sometimes we perform for children. Some days she rolls her big exercise ball from the runout into the stall and looks at me expecting praise and treat. She does that on days she’s well fed, relaxed, and wants to engage with me.
So my experience is that a repetoire of shared skills and cues over time results in horse and handler being able to communicate on multiple levels. It’s not the rote behavior OP thinks it is. The horses and I develop mutual sets of cues and skills over time. Paint Mare is so thrilled when she meets another human that understands trick cues. Her face just lights up.
I don’t think OP or indeed The Master understand what it’s like to have a personal horse for 5 or 10 or more years that you try out all the things, and develop a rapport. I mean Paint Mare even has a routine to help me put on her hoof boots. She basically bridles herself if you hold the bridle up. She will tilt her head to make it easier to do up her halter when she really wants to come in or out. She will graze loose beside the horse trailer at the trail head and not run off. These are all things she developed herself that I recognize and work with but you can’t teach. And you can’t get from one session in front of an audience.
And yes she self loads beautifully except sometimes coming home from a ride with good grazing she will hesitate for a moment to let me know she really wants to stay out there