To relax the hips during the squat and walking you can do many things. For example if you place your arms between your legs and work to separate them as the legs resist you will relax the hips because the regular forces you place on them in the chain of tensions change and allow for them to reach a natural resting position.
Another way to reach it is to hold a stick overhead in a wide grip and work to separate the hands against the resistance of the stick. As you work to broaden your grip you move the tension away from the shoulders and they take their natural position and allow the trunk and hips to relax and you will squat and walk more freely.

Try it and make it your own.

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