You get speed when the dog is in drive.
You create speed in motion exercises by rewarding the dog the moment it sits or downs. Faster you reward the faster the dog wants to do the command.
Why do you need your pet dog to do commands with speed? I think your goal should be consistency.
so if it's a pet I can wait until he decides to sit? why bother with teaching anything at all if it can be sloppy?
newsflash. sport dogs are pets too. they're just used for their owners' hobbies. or if I teach my dog to lay in bed every day for 17 hours (which is my hobby) then he will become the working dog?
anyway, back to my question which you partly answered