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I use a Help 'em up harness for rocky. i could not manage without it (or similar product).

Help Em Upâ„¢ Dog Harness | Hip Dysplasia | Dog Carrier

we (sadly) have much in common! Rock and Molly are about the same age and appear to have the same issues :( Rock came of NSAIDs when his liver values went a bit wonky (stable now at least).
There...

Sounds like our last family dog Dryf (he had hip issues that were not an issue til her got old - possibly HD). Is she already on general joint supplements?