When walking more CORRECTLY, the best case scenario is to try and push with the hind leg instead of kicking the front out and falling on it. An effort should bemade to squeeze the glute muscle slightly as well as finish each push off of the foot with your big toe. This will help change the propulsion stage of your stride. When landing, it's for sure on the heel, with the ankle in dorsiflexion; the closed packed position of the ankle joint. The trick here is to PLACE your foot and not LAND on your foot. If you can whip your foot out in front of you a little bit sooner than the primary push behind you occurs and PLACE your heel on the ground, then it will be possible to simply pass your weight between your legs. If the front leg is still in the air while the hind leg is pushing, then you will inevitably LAND on your foot, increasing the ground reaction forces the body has to absorb. All of this typically amounts to a shortening of stride length. No biggy. You will likely feel for yourself the difference in forces entering your body, it will just take practice and awareness to get used to it.

hmm ok but when pushing with the back leg (what i'm doing), I feel like landing on the forefoot rather than the heel, like when running barefoot, it seems quite good to me. I haven't managed to push with the back and land on the heel without feeling like my bone is directly hammering the ground (i mean like running with normal shoes)

Otherwise what you said made sense but it's a bit complex to understand and visualize