@mvp
The leg is indeed redirected only while it is in flight.
My world shifted when I realized what leg I was actually addressing: when that leg-in-flight is changing course, there is a limb with ground contact that is pushing the leg-in-flight in the new direction.
You can find this, just walking yourself: notice the inertia of, say, your left leg in a consistent walking stride straight forward for ten or twenty steps. Then plan to redirect your LEFT leg to the left, but continue walking straight until you make the transition…then feel your RIGHT leg muscles engage, feel the change in the ground contact in your RIGHT foot, as you redirect your LEFT leg to the left.
And best advice? Might be when I was given instructions from our neighbor, bringing the cattle in from a huge pasture: whatever you do, don’t piss off the bulls. (In other words, don’t get greedy, and don’t bite off more than you can chew)