
I agree with the back to basics viewpoint. You can't sort it whilst you've got the 2 out together. Sort them individually then reintroduce the walking together, time consuming and a pain, I kknow. You said when you go to training class you take them both, does this mean you work both together in the class? If so, don't. Take training as an opportunity for a much valued one to one time with that particular dog, specially with the agility where dogs get excited anyway when they see other dogs working - and why not?! It's really important, no matter how many dogs you have, to give them one to one, and it is the only way you can train them.
I'm sure you'll get it sorted and will be walking them both again with no problems.