here’s a discrepancy between the two steps so it almost looks like a bit of a limp

for a walk, always make these 4 frames first:
(yes im posting this image here again cry about it)

the key is to make sure they look identical, both of the “contact” and “passing” poses should be visually the same
it’s tedious to do because it can’t just be copy+paste, so its manually moving the arms and legs

so use the onion skin and really make sure these 2 pairs of frames are identical to each other

once that’s the case, it’s a matter of creatively using “Add tweened frame” + minor adjustments to keep the feet firmly planted, add a few in-betweens with this metod…maybe even add a bit of extra extreme easing at the very end of a step to show a shift of balance and weight…

boom perfect walk loop