So we went out tonight and tested our theory. I noticed the other day that if I slowed down at the end of the dogwalk, Bentley almost consistently strode through the contact zone without issue.
Consider our theory proven. He hit 100% of the contacts when we slowed down on the downside of the dogwalk. Unfortunately, it's not a great training method, but for now, it at least shows that he knows what we want, though he's cuing off the wrong command (the command being a deceleration). What works: hit the contact at full speed, decel on the downside and watch his feet...bingo!
And here's a quick video of our speed demon. I know that we'll use more rear crosses than anything else with her, but we're trying to get her to slow down and focus on our body language and read a front cross.