They can be trained to do simple things through repetition but you can’t change their personality or instincts. All my parrots became the same way as you describe. In a pet store when the bird is young it goes to anyone and is adorable and so special. You buy it. Some birds will tolerate another person handling it. But most don’t.
If they aren’t cared for properly they can actually become mentally unwell and start neurotic behavior. It was a natural thing for him to be okay held in your hand feet up. People thought it was a trick. Nope it’s what Senegal’s do. He eventually became neurotic alone in a big Kings cage. He started to bite. Then he started to pull feathers out.
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