It's nice that you mentioned nanba aruki. I'd like to ask about it in aikido. Some aikido teachers or maybe shihans use it, isn't? I don't practice aikido that's why I can't ask directly.
I seem to remember my first aikido instructor talk about "nanba aruki"( he actually just called it samurai walking) a decade or so ago but I don't remember much. Are there any videos floating around that demonstrate this?