Since most of your description of problems fall into the lower body areas, IMHO, I would stress some footwork drills on your own.
Skipping rope is a great one.
Tenkan training. Alternate 90 and 180 degree step turns. Keep your spine straight. Body relaxed. Hands held low at belt level on your center line. Keep alignment with eyes, shoulders, hands, hips, knees, and feet all pointed in the same direction. Move from the hip as one unified, upper and lower, movement. Keep soft distant focus, me-tsuki. Breath. Put on some good music and rhythm train by moving with the beat.