Yes, a large part of it is simply understanding and being in tune with your body. There’s certainly more to it though. Giving him toys to practice will definitely be a good way to move towards that if it’s a goal, but I would simply say to exercise caution in trying to explicitly force it through your scenes and overarching control dynamics until he’s ready and capable or else it’s just setting the stage for failure and frustration. That is unless putting him in a failing position is your goal in the first place of course.
It looks like you’ve got the cleaning part covered. I can certainly help dirty them up again for you 😉