We don't even have tables as an obstacle in NZ any more! We do have cross overs though, which I don't think yous have?

When you say he is swinging his butt doing 2o2o, what do you mean? Are his back legs coming off and going onto the ground? Is it on all contacts he is doing this?

For teaching "go", I would teach him to go to a target (a toy, or a lid of something with a treat sitting on it perhaps), and slowly add in obstacles before it... start off on the flat and send him just a few metres, then up the distance, then add obstacles