The crate is the dog’s safe space, not a punishment. If I need my dog to be in her crate, I reward her when she goes inside.

There are also hand motions to go with common commands like ‘sit’. I’ve found this makes it easier for a dog to understand me.

Better general medical science. So much of what we use is very old tech. We still can’t regrow cartligage. We still pin bones together with titanium screws. We still mostly use fiberglass casts (though better alternatives exist). We still catch the common cold.