If what you’re talking about is what I think it is…
I suspect it’s just something that’s not exactly easy to do. I’ve noticed there are no animation tutorials at all when it comes to transition movements. (At least in my searches.) I figure it’s because it’s fidgety and needs lots of adjustment, since every case is potentially unique. So if you have a character get up and then go to a walk, or step over something, or go from a walk to going up stairs, etc, you’re on your own.
However just a plain walk cycle going at a continuous pace? Then the tutorials on animating that are a dime a dozen.
Other than that, I think Blender has one handy tool for pinning steps down that other software lacks. And that’d be the 3D cursor and its associated snapping. (Saves some guessing.) Use that to position IK feet so they don’t drift after the main body of the character moves forward, etc. Still it’s a lot of busy work, so it requires patience.
Also keep in mind there’s some bounce to steps with a bit of hip or torso movement. Otherwise it could look weird or robotic. Still something I haven’t got figured out myself, but you’ll just have to look at a lot of examples and keep at it.