I'm pretty sure Tempi would fit into the above category. He's jumped out of his paddock twice--over the three and a half foot rope across the gap in the fence. He ran right back in the barn both times. After the first time, I laid a blanket across the rope to discourage jumping out. (He is (was?) very afraid of blowing towels and blankets.) That worked for about 5 or 6 turnouts, and then a few days ago I poked my head out of the barn just in time to see him tuck those pretty little knees and trot right up to me. Over the blanket in great form. Too bad I did not have a camera.
He is really coming along nicely. One of our favorite activities is to take long walks/grazes. He is much much more comfortable with traffic now and only has the occasional meltdown when cars come up behind him. He has absolutely no fear of cows or other livestock that we pass. My other horse sometimes has to stop and have a think about cows. Nor is he afraid of other horses pulling buggies or spring wagons. (What I've gleaned from reading this forum and noticing my other horse's behavior the first time he saw a horse hitched to something is that they tend to be frightened if they're not used to it.) He is lunging quite well and is responsive to voice commands.
Ground driving is great, too. We do figures of eight and serpentines in the paddock with lots of practice halting. Yesterday for the first time I ended our session driving him onto the driveway near the barn, then circling around on out onto the road for a couple of minutes. He did brilliantly. Even stood like a pro at the hitching rail while I unharnessed him. Next week will most probably be hitching week. A few days ago I parked his cart in the middle of the paddock and we smelled it and followed it so we could listen to the scary creaks and rattles.