Pivot training paw problem / advice needed.
I have a young Belgian Malinois that I have recently started on a pivot bowl. He has learned to place both feet on the platform and does so readily and quickly. We are currently easing into rear leg awareness and adding bits of movement, and I am running into an issue wherein I attempt to lure him to turn, and as he follows he will lift one paw up off of the bowl. This is causing him to lose balance and struggle to turn while keeping his front feet on the bowl.
He has however had moments in doing this where he successfully moves his back legs to the side with one paw on the bowl, and one paw lifted up to his chest. I was rewarding for this with the idea that we could polish it over time, but I am worried this is creating a bad habit / bad form; On top of it very obviously making it much more difficult for him to maintain his balance while pivoting.
Does anyone here have advice for getting him to stop picking a paw up? I am unsure if it is appeasement (He is pretty low confidence at the moment) or just him being too focused on the lure. Should I also avoid rewarding when he turns with his back legs if a paw is up, or just reward for the small success regardless?