An alternative to “wait” is “sit”. We consider sit the same as wait. It is the position pup goes to before either given something fun to do or being released to do what he wants which is inevitably something fun in his eyes.
We use sit and a release phrase for all manner of situations. Food, doors, crate exit, play etc Pup knows that if he sits something good is about to happen.
You could trying sitting her before releasing her to go on the sofa. If sit and release is used for other situations too it should sink in well.
We use “that’ll do” as our release phrase with a hand gesture towards what is fun.