Animating a walk cycle without constant copy/paste while making changes?

I’m animating a character’s walk cycle in Blender. I’m pretty new to this, so I’m doing a lot of tweaking and revising as I try to get the animation to look right.

Currently, whenever I make a change and I want to see how the animation looks with that new change, I have to press A (select all bones), drag click and select the first half of the dope sheet timeline, ctrl+C (copy), click on the exact middle frame, ctrl+shift+V (paste flipped). Having to do this so often is getting very, very tedious.

It really seems like there should be an easier way, like a way to make changes to one half of the cycle automatically update the other half too? Or, at the very least, a single hotkey to quickly paste the first half flipped to the second half?

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