Hip dysplasia can be seen on x-rays, but no technique is 100% diagnostic. There are several techniques, as you may have heard about "Penn Hip" or others. There is no particular age that can rule out hip dysplasia on x-rays - the bad cases will always look bad.
Given what you have described to me so far, I agree that it is very likely that your dog has hip dysplasia, even if you miss it on the x-rays. (By the way, you sound very educated about hip dysplasia!)
What types of prevention are you thinking about? Surgical? That is probably the only way to really prevent arthritis; medications won't. On the other hand, many dogs do ok with hip dysplasia as long as you control pain when it shows up.
So your main options are: do surgery now, and hope that things get better. Or, manage it for as long as you can, then do total hip replacement when you can no longer control the pain and arthritis.
You sound like you are very familiar with hip dysplasia already, so I don't want to bored you. I just want to make sure that you know that controlled exercise is necessary for hip dysplasia. You want to build up the muscles to keep the joint stable. This means slow walks regularly for long periods of time, and no abrupt incrase in activity and uncontrolled exercise (running around in the field once a month without a leash).
I hope this answered your question.
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