I sometimes waffle on soft/hard, but having said that...
Pip is about as soft as they come. An intimidating body posture or a harsh verbal correction can break his heart into a million tiny pieces. Generally he is very easy to train because he is very handler oriented and a natural orbiter, but on the other hand he is not always a confident dog (he mostly doesn't care for unfamiliar things), he easily gets worried by distractions, and he doesn't always recover from handler mistakes quickly. Once you've lost him, you need to make up and pump him up a little bit if you're going to continue to work. He's seven now, and over the years I've learned how to be soft and patient with him when I'm actually frustrated inside, but it's not always easy.
On the other hand, I would call Squash hard. He can sometimes be challenging because he is a total clown and he can be stubborn, but at the end of the day he really is incredibly easy to train and work with because he's easy to motivate, very smart, picks things up very quickly, he'll try anything, and he recovers almost instantly from handler mistakes or distractions. If he's goofing off or slacking off or pushing the boundaries*, it's annoying but it's not very hard to get him back and verbal or even leash corrections have no lasting effects on him. I enjoy working with him the most of all of my dogs, he's the most fun. (*Here's an example of pushing the boundaries: He's in a down-stay in class and not supposed to be visiting another nearby dog. Instead of breaking outright, he realllll slowly and sneaky "stretches" and... oh, look at that, when he's done stretching he's ended up at his full, substantial length and while still technically in a down-stay, he can now reach the other dog. Attack; counter-attack.)
Maisy is a weird amalgamation of a lot of different traits, I don't even know what to call her. She's extremely distractible especially around other dogs, but when you have her attention she is very smart and focused. She's generally very confident, but occasionally extremely insecure. She's incredibly sweet, but she's a tough cookie, too. Her reaction to corrections depends entirely on what she's doing at the time from not even noticing to wilting. She's the most challenging dog I've ever had as far as training goes, it's exhausting sometimes to get through a class with her mostly because of her distractibility around other dogs, but it's satisfying, too.