I have noticed that there is a Dvorak variant called Programmer Dvorak. Have you been using it? I think it is supposed to not have this problem.
No I didn't. At the time I was doing a sys admin role and I often had to work on other computers and only if I was lucky would I be able to switch the layout momentarily. This made it infeasible to reconfigure VIM to be qwerty in command-mode. I just learned to navigate in dvorak. It was odd but possible.
I was switching around on several OS flavours too and so I stuck with the standard dvorak.