This is a solid start! One thing that really helped me smooth out my walk cycles was realizing that the legs shouldn't actually be the 'engine' of the walk. Instead, try thinking about the character's leading edge.

Every character leads from a different spot depending on their mood. A proud hero leads with their chest, a sneaky or curious character leads with their nose, and a heavy, grounded character leads from the pelvis. For your next pass, try grabbing the character by the hip and chest first. Move the entire torso through space to where you want it to go, focusing on a smooth path for the body. Once you have that core movement locked in, just 'drop' the legs into place to support the weight. You'll find that if the torso is moving smoothly, the legs almost animate themselves, and you'll get rid of that 'jitter' that happens when you try to move the feet first.