well Queen has been with us for a month and she does "come" and "down" real well. as for heel, we have not done that a lot yet as I cannot see her well and am afraid I will hit her with my wheelchair.
As for going out, as soon as I transfer from my manual wheelie chair to my outside power chair she is ready to go, and stands to my left and behind so we can get her collar/leash on and open the door.
Funny thing, she won't go in front of me out the door, but when we are in the driveway she is willing to walk in front.
she will trot next to me when I am "at speed" and an arms length away and positions herself to my left with extra room when I open the gate for our afternoon and evening back yard time, and WILL walk in front of me into the backyard and stay far enough away so I can spin in place, shut the gate and let her loose.
Remember "sit" as a command for greys is not all that easy for them, and down may work better.{some do sit, and some will sit if they have a soft spot,Queen will sit on her bed because she is cushioned...