>> Just spell it out literally.
Spelling it out literally is precisely what the GP is doing in each of the example sentences — literally saying what the subject is doing, and with the precision of choosing a single word better to convey not only the mere fact of bipedal locomotion, but also the WAY the person walked, with what pace, attitude, and feeling.
This carries MORE information about in the exact same amount of words. It is the most literal way to spell it out.
A big part of good writing is how to convey more meaning without more words.
Bad writing would be to add more clauses or sentences to say that our subject was confidently striding, conspiratorially sidling, or angrily tromping, and adding much more of those sentences and phrases soon gets tiresome for the reader. Better writing carries the heavier load in the same size sentence by using better word choice, metaphor, etc. (and doing it without going too far the other way and making the writing unintelligibly dense).
Think of "spelling it out literally" like the thousand-line IF statements, whereas good writing uses a more concise function to produce the desired output.