Green’s Dictionary of Slang

to move or travel in a leisurely manner; often as poodle around, poodle down, poodle off.

1938		F.D. Sharpe Sharpe of the Flying Squad 276: We were poodling through Woolwich.
1956		J. Curtis Look Long Upon a Monkey 92–3: Before they poodled off in that jam-jar, get himself all done up like a dog’s dinner.
1983		A. Payne ‘Get Daley!’ Minder [TV script] 17: Then we’ll poodle over to your drum.
1984		A. Sayle Train to Hell 42: All that day our train poodled south through France.
2002		‘Barbara Vine’ Blood Doctor (2003) 256: I poodle through most of the morning.