Ok this makes the most sense so far. I used to always go "with the flow" of the horse and never had a problem. Now I seem tense and that I'm fighting that motion. But I feel like I'm over exaggerating with my hips when trying to go with his canter....is this how it's suppose to feel?
You can also make that jog/trot and lope more comfortable by training your horse to use his body correctly. Getting your horse to drive with the hock and lift the back will help HIS gaits get better, which in turn are more comfortable for you. Bad movers can always become better movers with correct training.