By x-ray, your dog has severe subluxation on both hip joints with mild DJD(2nd bone changes). There is not necessary to use pain control medicine if your dog does not show any signs of pain and /or limping. The pain control medicine only used when the dog is on active inflammation and pain stage.
Do not pay too much concerns to observe your dog walking status. I like you just make sure he is pain free and function normally when he is walking and running.
You have to know that his hip is less traumatic resistant when compare to a normal hip, so you have to watch out any heavy or traumatic types of exercises.
At this moment, you only have to follow the conservative management to take care of his hip.
Dr. Lee