It was pretty on and off from what I remember. She was an extremely fast dog, and would go outside running top speed everywhere just for fun. She only lived to six, because someone actually left a towel inside of her when she was spayed as a pup, and it caused non-cancerous tumors to grow in her abdomen. One and a half months from the first symptoms to when we had to put her down, it was a miserable couple of months for all of us. But, from what I remember, it she wasn't limping nearly as much in the last year or two, just very occasionally. It's like it'd partly heal, then get injured again, over and over, and it just slowly improved and got more resilient (I'm sure it left some sort of permanent damage however). The original injury happened, I think, before she was 1.