We have cues for directions, stop and get out. I mix up english and french at herding lol but Fly doesn't mind.
So I use "lie down" to lie down (logical), "away" (sometimes we actually say Awé in the French way to have an open A) for right, "come by" for left and "file" (french word) for get out (or go away from the herd). We may use "stop" or "stand" to have the dog stop without lying down.
Directions are special. Going left means get around the herd by the left, and same for right.
Staying far behind is my main problem with Fly who tends to be sticky. But we want to avoid the dog lying down all the time so I use "file" or I just growl to have her keep her distance. We are working on this at the moment, as well as having a straight walk behind. Fly tends to zig zag all the time.