In humans it is common to find 'severe, moderate or mild' claudication.

Claudication is pain and/or cramping in the lower leg due to inadequate blood flow to the muscles. The pain usually causes the person to limp. The word "claudication" comes from the Latin "claudicare" meaning to limp. Claudication typically is felt while walking, and subsides with rest. It is commonly referred to as "intermittent" claudication because it comes and goes with exertion and rest. In severe claudication, the pain is also felt at rest.
https://www.medicinenet.com/claudication/article.htm#what_ca...

For dogs, I have almost invariably found intermittent claudication

The occurrence of exercise-induced pain in some affected dogs, termed neurogenic intermittent claudication, may be related to dilatation of radicular vessels and subsequent compression of adjacent nerve roots in a stenotic region, e.g., intervertebral foramen or lateral recess of the caudal L7 vertebral foramen narrowed by a degenerative process.
https://www.vin.com/apputil/content/defaultadv1.aspx?pId=111...

La cojera o claudicación en los perros es una manifestación o síntoma de cualquier tipo de molestia, dolor, o anormalidad anatómica, en las extremidades delanteras (anteriores) o traseras (posteriores) del animal, caracterizada por el apoyo anormal o la ausencia de apoyo de las mismas
https://www.webconsultas.com/mascotas/primeros-auxilios-para...