I adjusted the spacing so that there were 4 frames between each keyframe. The limbs are now in sync and everything moves evenly! It's still very robotic and lacking in anything even vaguely resembling personality but I think the mechanics are there.
Having two floor levels — one for each foot — is really over complicating things. It's hard to animate the legs smoothly and I find myself getting confused as to which foot should land where. I think I'm going to make both feet level and just use one ground line to help keep things simple.
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