Not sure this will help, (I'm still a bit in the experimental mode) but I was having similiar problems mainly with my left side. It just seemed my calves were working hard on the downstroke to keep my foot in position. I moved my cleats back just a few mm and it seemed to help stabilize the foot. Not sure what all other adjustments I should make from this move. I can always go back as I marked the original position. Just a thought.