There is a lot good there, however I notice on a couple she has tendency to crab you and then you try to turn into her to fix this. I would work on in the kitchen her being able to turn left without you running onto her, this is kind of hard to explain what I do but it goes along with slow down and work on rear end awareness so she can turn he but without you guiding her around. Also I notice you have a tendency to throw the toy and she develops anticipation for that which leads to her leaving your side before the reward does in the one where you are walking at the camera. So try and have her come up your side and get the reward to keep her by your side. This help to clear some of the forging if you work on the position she should be in. For you I would encourage to pick a goal of where you are heeling and go for that, i.e. it seems like you are walking a random confusing walk around a field and not picking places to go to and that can help with fine tuning.