Dontcha wish you could get him to do it on command!
Tennessee can do a racking "passage" across a rough field at 10 to 15 mph when we're heading back towards home. I'm trying to keep his head going straight but his butt is pointed towards the barn.
Yes, the last mile toward home is the other time for spontaneous fancy footwork ;~D
If Bay does his piaffe and passage spontaneously, I cue and reward it, and hope that in doing that I can use the same language to get a more animated, very collected trot out of him later... but the attitude has to come from the horse ;~D