I started out using a hopper foot, but I always seemed to have lurches and stitch length issues. So I bought a generic hopper foot and modified it to be a glider, as Leah Day (I think) showed how in one of her videos. I do a little better with it, but I, too, have problems getting over thick seams. You just have to find the happy medium between foot height, tension, speed, needle size, and …..phase of the moon, maybe.
You are braver than I am, trying to FMQ with a loose 2 year old in the house. Kudos to you!