It's a work in progress. I'm currently working on a harness idea that has a D ring that stands proud combined with a clip that releases better under tension. Part of it is planning ahead and not trying to do it when distractions or rough ground are present. I look at each run as a training session for both her and I
My thoughts to the OP are that going LCF and having two dogs means you really have to put some thought and training into making it work.