The defensive glossary - half-backs, sweeper keepers, the libero and beyond

The Athletic's Michael Cox, Tom Worville and Ali Maxwell complete their quest to classify every possible position and role on a football pitch with the third and final edition of the ZM pod footballing glossary, this time focusing on defenders and goalkeepers.
What's the difference between a libero and a sweeper? When is a back three really a back five? Should the outside centre-backs in a three man defence be called full-backs? Is Joao Cancelo the modern half-back? What is the opposite of a sweeper keeper?
All these questions answered and more as we journey deep into the the defensive third
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