I don't know if you can fix the problem or if it's just something that horse has to deal with. I know watching kids grow up. That they go through ages when they are gangly and clumsey and then they bloom and seem to be so athletic and coordinated. So maybe it's a growing up thing.
There is a ranch near where I live that sells a LOT of quarter horse babies. Part of their sales pitch is that this horses are born and raised on some very rough and mountainous terrain. That these colts learn to pick up their feet as babies and that trait stays with them for life. And there are a lot of people who seem to believe that.