Yogi has a little "hitch in his giddy-up" sometimes too. His daddy - sire - does too, so he comes by it honestly. Well come to think of it his Poppa
(my DH) does sometimes too
Dr D has checked him out throughly several times and his hips & knees are fine. I think it's rather cute, sort of like his front end isn't going fast enough to suite his backend.
I wouldn't worry too much until you have it checked out. Take her in and let your vet look her over.