Yes, that's a good way to go about crate training, I think. Another idea is to feed in the crate, again to make a positive association. I don't really like doing that as I find it messy and awkward. Another suggestion is never to use it as punishment, because you don't want the dog to have a negative association with it.
My dogs are both crate trained, but rarely use them anymore. They are safe to leave out in the house when I'm gone. They use crates when travelling.
With separation anxiety, what I recommend is giving them something to keep them busy, leaving a radio playing quietly in the background, and not making a big deal out of leaving or returning.
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