So I tried to make walk cycles many times but they always look off
The only walk cycle I cooked was this
The problem with walk cycles is that they require you to know that legs move separately on each step, making it that the weight of your body moves from leg to leg. Each leg should take its own step, and also you should delay a little the movement of the heavy top part to the free, lightweight bottom part and the most lightweight part, the feet. Each should move a little delayed, ensuring the motion feels real.
Arms also tend to move like the inverse of the feet’s movement, if they move.