Here is an alternate way to set up your hips giving them the flexibility to move freely from the upper body.

Start off my making your legs seperate from your upper body.

This is what the legs look like

This is what the upper body looks like

Here we notice that the Legs_Root Joint overlaps the Root Joint

Select the Root joint, Shift select the Legs_Root and create a point constraint.

Now you should be able to rotate the legs independent of the upper body and also have the legs follow the Upperbody.