Yes. When upset or anxious. I've always figured it to be a self-soothing kind of thing. But nervous energy could certainly be a part too.

So when your doctor asked, did you know how long you've been doing it? (Mine goes way back to where I don't remember a start time.)

It's not too unusual for me to sway side to side, but not sure what that's about (except in cases where if it's something obvious, like holding an animal or something -- a comfort thing.)

Have you noticed doing one or the other specific to certain situations? (For example, would listening to someone always go with side to side?)

(I have RLS too, but I've never considered there to be any connection.)