For walk toggle I've used this mod
E to Interact - V to Walk and Drive - Dedicated Dodge - Dialogue Scroll together with some changes in Corsair iCUE programmable keyboard. This mod also has very good driving gearing at slower speeds.
I have set up 2 profiles with Corsair iCUE (walk, & jog).
So I can choose the appropriate profile depending if I am in combat (jog) just sight seeing (walk).
In the walk profile, WASD are remapped in iCUE to YGHJ so they are dedicated walk keys in this mode. Also pressing SHIFT switches the profile to the jog profile.
In the jog profile, the SHIFT is not rebound so makes you sprint as normal, but pressing CONTROL switches profile back to walk.
Then together with this tip
to reduce the steering range a little (I use +/- 0.65) the steering is a little better, but still twitchy.