It must be a very awkward feeling!
The condition could be Proprioception, a dysregulation or damage of one of the sensory nerves ( the 6th ?), where in your case the feedback information of the sensing of your movement is lagging.
Have you experienced any physical, mental or psychological changes/ events , prior to all this?
I would look into Qi-Gong , one of the few disciplines, which integrates
body-mind-spirit in a very very gentle way.
Tai Chi is another great discipline which derived from Qi-Gong, however, I find that at first it requires too much mental effort to learn the moves in sequence, which might defeat the purpose in your case.
On the other hand, it would be quite a challenge for conventional Doctors to deal with such a health concern.
It would likely require a barage of testing and possibly prescribing some medication
(more like a shot in the dark) to find out if it would help.
My hope for you is that it is a transient imbalance of sorts affecting you only temporarily .