I hate to say this or cause unneeded worry: but have you had him checked very carefully for possible pain points? This kind of effect from harnesses -- yelping if touched under the 'arms' (which really should not happen at all unless he is actually being pinched and it is really too tight); and a harness causing gait issues -- may possible be signs of sensitivities due to an issue like syringomyelia. The gait issue in particular, and the difficulty in finding a harness which seems to work for him, would just raise some questions in my mind. Not necessarily something that needs to be looked into right now, but I';d be filing that away and keeping an eye out for anything else that seems odd.
I actually thought initially that you were asking about harnesses because of SM (but don;t think so?) and was going to say that Dr Clare Rusbridge says some SM dogs do better on collars rather than harnesses (not the norm, but sometimes it applies) as a harness rubbing on a syrinx or pain areas can cause pain under the arms, gait issues, scratching etc. With Puppias, the only dog I had that has ever yelped on taking them off when touched under the arms is my most affected SM cavalier).
It all may be totally innocent but it is odd -- especially a harness causing a limp-like gait

-- and I'd have a talk with your vet and make sure they are aware of the issues with CM/SM in the breed, and then be sure yourself to be familiar with the wide range of potential symptoms -- this is wise just as a norm for any cavalier owner. I know it can cause unnecessary worry for some but in the balance' given the high incidence of the condition in the breed, it is better to err on the side of making sure a dog gets diagnosis and treatment when needed because an owner is alert to unusual signs.
I'd have a vet try some of the more obvious potential pain points next time you are in for another reason -- this tends to be 'armpits', neck, spine, ear/head areas -- and let them know about the various harness problems. As advised for most cavalier owners (excepting those perhaps with multiple cavaliers), if Bentley isn;t insured yet, I'd definitely get insurance before such a vet checkup just for comfort and because this is a wise step in general

. And I'd just keep an eye out for anything that might crop up.
All of us hope we never have issues with SM, but statistically most of us will eventually have cavaliers that do have it, though thankfully far fewer are ever symptomatic. It just makes good owner sense to be alert because of those statistics.
Separate to that -- have you taken the Sensible harness to the place you bought it to have it properly fitted? It can be tricky to just use the pictures but really, as long as they are not snug -- they need some give as they do tighten across the back when a dog sits -- they work well even without being exactly to the perfect adjustment. I use them for all four cavaliers and my trainer friends have fitted them for every possible size of dog (though they do gradually come 'loose' and need to be adjusted on a regular basis, I find -- for the cavaliers and my partner's GSD too!). They are really great harnesses (and I find they work really well for SM dogs -- I have three with SM and they seem to be far more comfortable than many other types including Puppias for my most affected SM cavalier).
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