Firstly you have to say what you mean by caging. Leaving a cage open is no cage at all. A sturdy cardboard box with old linen can be a safe haven, so why buy a metal cage unless you intend to lock it, at which point you've trained ddog that they have no choice, amongst other things. All dogs need time to themselves, so if a cage is their only safe place, and where you can be relied to ignore them, they would go there, wouldn't they when they've had enough of you. I've no idea what cage training involves, I don't really see how a locked cage teaches a dog anything useful, and anything negative learned will only come back to the teacher quite deservedly.
Recall, I have always found to occur naturally when you've earned ddog's trust, bonded if you wish. That comes from repeatedly proving yourself without deviation that you can always be relied on, to be "on their side" if you wish. Hard to do if you don't actively think that yourself. I would go further to say that even on an entirely free outing with unlimited distractions, if ddog/s sense you need them, they return unbidden to check up on you. It's as if there is an elastic string that never breaks from puppyhood to the end of life. They also like their dignity and definitely know if you're teasing them about checking in.
Dogs I find do not forget injustices or neglect, they tolerate it because they have no choice, and they judge very keenly and fairly. We have never consciously trained for recall, it has always developed naturally. Possibly every single ddog we've had has been unusual but that's not likely. I would say you have to start from the moment you take them on. Never let them forget that they are valued, which is different from their having to learn how to behave well. We prefer ddogs sharp, and they are all confident, but chilled is not something we've especially noticed. They're always deeply curious, and know their boundaries, possibly even aloof in the face of over-enthusiasm from strangers and visitors, regardless of the number of legs they have. They know they are not objects of amusement. Most of us get the dog we deserve, and I am of the view that taking a dog on is as big a decision as whether to have a child. The social consequences may be different, but not to the dog.