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Recent experiments have shown that liquid Leidenfrost drops levitated by their vapor above a flat hot surface can exhibit symmetry-breaking spontaneous dynamics (A. Bouillant et al., Nature Physics, 14 1188-1192, 2018). Motivated by these observations, we theoretically investigate the translational and rotational dynamics of Leidenfrost drops on the basis of a simplified two-dimensional model, focusing on near-circular drops small relative to the capillary length. The model couples the equations of motion of the drop, which flows as a rigid wheel, and thin-film equations governing the vapor flow, the profile of the deformable vapor-liquid interface and thus the hydrodynamic forces and torques on the drop. In contrast to previous analytical models of Leidenfrost drops levitating above a flat surface, which predict only symmetric solutions, we find that the symmetric Leidenfrost state is unstable above a critical drop radius: $R_1$ for a free drop and $R_2>R_1$ for an immobilized drop. In these respective cases, symmetry breaking is manifested in supercritical-pitchfork bifurcations into steady states of pure rolling and constant angular velocity. In further qualitative agreement with the experiments, when a symmetry-broken immobilized drop is suddenly released it initially moves at an acceleration $αg$, where $α$ is an angle characterizing the slope of the liquid-vapor profile and $g$ is the gravitational acceleration; moreover, $α$ exhibits a maximum with respect to the drop radius, at a radius increasing with the temperature difference between the surface and the drop.