Have you considered walking with a dowel rod in your hand, just a light tap to the rear quarter with a GET IT IN, command, might help. I haven't had trouble with left u-turns, I just say back, and they know to slow up and follow because I am turning into them. I am going to try the dowel rod for the three steps back, excellent level.
Also, can you speed up your pace, not just around the turns, but it seems like my dogs tend to do better when I am going at a good clip.
Heidi Ho, Odie
Joy-Joy, Bear Cub, Hepsi-Pepsi
Cujo2, Karma Chameleon
Ramona the Pest, Kojak -- who loves you baby?
Tiny Tinnie, Susie's Uzzi, Kaiah -- The Baby Monster.