I have the same thing.My right foot tends to roll under and I festinate some too. I have noted that it is worse when I have objects in my hands. My MDS at first said I needed to be reprogramed. Then he changed his mind. An increase in volts did not help. How many years do your IPG's have on them?
Do you have any leads that are at 2000 ohms resistance??
This MIGHT be a early warning for battery failure. This is just conjecture on my part, but it is interesting. I guess I will have to query DBSurgery
and see if any others have experienced this.