Even turtles have "floating" scapula, inside the shell/ribs! The "closest" thing I recall is birds having their clavicles fused into a furcula. But it's far from being really close to "frontal hips".
Prehistoric bony-fishes, and tetrapods as far as I'm aware. In tetrapods the cleithrum, clavicle, and interclavicle are all dermal the bone structure therefore linked to the caudal section of the head - in later evolutionary lines particularly with the appearance of unique digits, we begin to see a separation of fused-bone structures to suit a more efficient system of connected joints and sockets.