Why the need for a quantum leap? Evolution has worked okay for its little steps.
There is also nothing wrong with iterative improvement. I quite like it actually, and I think people who dismiss it out of hand are weird.
Video at https://www.youtube.com/watch?v=HmLS2WXZQxU.
I think you won't find animals that use rolling as their primary method. Problems is that for feet, you need a patch of relatively flat surface every footstep. For wheels, you need a continuous stretch, or you need a design that can withstand impacts. Small animals have an advantage there, as gravity isn't as harsh on them as on larger animals.
And of course, there's Pedalternorotandomovens Centroculatus Articulosus (https://en.m.wikipedia.org/wiki/Curl-up)