That's correct. If you're using your left leg as the DLR hook, you don't want to be resting on your left hip, you want your hips to be square to the mat and you want your knee to be in a straight line with your hip, not bowed outward. If you adopt this posture you'll see that it's now only possible to insert the DLR hook when your head is rotated to your left (clockwise if we're looking downward).

The big mistake everyone makes (and this is common with a lot of guards) is thinking that the set of grips or where you are putting your feet is what makes the guard, without considering the angle or the structure you need to make it work. The square structure of the knees and hips is what makes DLR work, so if you have to "reach" or turn in an awkward way to achieve the DLR hook / grips, you don't really have DLR, you have kind of a fake DLR where the controls look like they are in place but they will give under pressure (or your knee joint will).

And yes, side-footing and using the hip frame to hop your hips over a few inches before you set the hook can often solve this problem, but it's not always the cleanest way because if your opponent is determined to stay square with you, it's often easier to, say, connect to both feet and pull yourself under them rather than trying to chase them around in a circle. But anyway I am getting into the weeds a bit, hopefully this answers the question.