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Training from the ground should start at birth with imprinting and move to ground manners and conditioning to new situations and things. As for when a horse should be ridden 3/4yrs is pretty good to start a horse as earlier can ruin their legs and backs and lead to long term problems. Race horses are often started earlier but have shorter careers as the younger the better for weight restrictions. Harness training other than just putting it on the horse would fall under the same thing. You can harness and ground drive a horse without them pulling anything, lunge, ground drive and do plenty of things that will train a horse to deal once a rider is on their back.
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