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Normally when a dog starts walking in the manner you describe, it is often a problem with the vestibular system. You indicate no falling over or tilting of the head so the whole vestibular system may not be affected. I would then suspect an inner ear infection on that side or a possible growth. Unfortunately, only your vet can determine if an ear infection or growth is present and x-rays or other imaging will need to be done to rule out a growth affecting the system.
A stroke can also cause similar symptoms. I'll go ahead and give you information on vestibular disease as well as information on ear infections and strokes.
Stroke information is found here:
Inner ear infection information can be found here:
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