You’ve got to work at keeping the back foot facing forward - that’s the hard part. Lifting your arms isn’t required, but it makes your legs work harder automatically. You’ll wobble and shake at first, but stability builds quickly - your body wants to do it right. When you get good at it, close your eyes. A minute or two per day on each side is a good practice; longer if you like.
If you want to live with your own happy hips for the long game, you’ve got to practice having happy hips now.
But your body is designed to heal, feel good, and function without pain for 100 years. We blame the body when it breaks down, but mostly it is the world we've created, and the way we live in it. Your body does the best it can, until it can't anymore.