Some good training programs for horses? And help with a few manner problems?

i have 3 horses. A 6 year old qh mare, she has a slight atitude. I rescued her from a horse trader and finished, with a little help from freind, her out completely but resently she has started crow hopping when we go into a canter and i cant seem to get her to do a smooth transition any more. Sh also has some issues with picking up her feet ( she was beat whenever she didnt pick them up at her previous owners). I have a 4 year old paint filly shes around 16 hh. I have had a saddle on her and a bit in her mouth she knows what they are for. I have also sat on her. (my dad and i think that she was broke when we got her from her previous owner.) but she has bad ground manners(she was spoiled and allowed to do anything she pleased) she leads but she likes to pull and be in front of you. she will only pick up her feet for a small peroid of time, and she has separation aniexty when i take her away from my other mare. And lastly is a resently rescued Qh gelding. he rides and has perfect riding manners but he had a problem with his face being touched and he bites. Im pretty sure her was beaten(hes got some scars that cant be explained) he was about 500 pounds under weight and he has major food aggression. I am patient with all my horses as they all have some problem or another ( i guess that comes with resccue animals) but ive gotten to the point where i feel like i have tried everything i know and im open to ideas. I also dont want someone tell me that i dont ahve time for my animals or that i dont know what im doing. I do have the time and space and money for them. I do know what im doing and have the vet out regularly for check ups.