In answer to both issues above: Jasper has learned to wait while I put his harness on and off. He knows harness means walk or ride in the truck or four wheeler; all of which he loves! He'll ring that bell while we get ready to go. The word "Go" (for a walk, ride) is his trigger. So the bell is his language to open the door.
Iím the one who struggles with the clipping/unclipping of the harness. Thankfully Zumba is patient with me.