We have three with varying degrees of training, but reasonable basics. One is a star - he has done his Bronze, Silver and Gold Awards, and is beautifully behaved. His only fault when out on a walk is a tendancy to slight delay when called. He'll come back but will often be diverted along the way by an interesting smell. 
Madam will do recall but I wouldn't trust her at all if something small and fluffy got in her way so we are incredibly careful when and where we let her off the lead. She walks beautifully on the lead, gets in and out of the car very nicely and is very affectionate with people. She has been known to attempt a sit for a sausage - DH will often do this with her. She will also go in her bed when asked, though usually she's there anyway! Her arthritis and limited sight now mean that I wouldn't do a class with her though.
Andy walks nicely on the lead and will go in his bed on command. He also is good at getting in and out of the car. I wouldn't ask him to sit - not comfortable. He is good at catching sausages. 
Also a highly accomplished counter-surfer.
When it's walk time they recognise us putting on shoes and getting the leads out of the utility room. At this point they are all very excited and stand in a row, wagging their tails like mad and occasionally making little squeaking noises. They have learned not to jump up as that gets ignored. Leads are brought out and depending on time of year I get the coats - each greyhound will then shuffle around trying to be the first in the queue for their coat -it's quite sweet. They usually stand nicely while coats and leads are being put on though still with ferocious tail wagging and a certain amount of excited shuffling about from foot to foot. When we put on our shoes, it is quite likely that an eager greyhound will come over and lean on us in an affectionate attempt to encourage departure. Leads are gathered and then we have a moment of standing quietly in the hall. ONly if they are standing nicely and not pulling, do we open the front door. Dogs are then walked quietly out to the car on their leads. Each is then nicely inserted into car and usually settle straight down. We can then faff about with getting coats, keys, purse, spare shopping bags etc etc and then finally set off.
I'd say the walk routine is good but not perfect - with three large grunds in a small space it will always be a bit anarchic but we're very happy in general terms with how they are. Of all of them, Andy I think could enjoy more training - he is very food orientated and I suspect he could probably learn a few tricks. He goes running with DH and loves that.