Your direction of movement may influence which foot you move forward on first.
I’m guessing what you’d want is some way of playing a move forward anim (probably best if it was 2D Blendscape with turning across 360 degrees for a variety of speeds). I’m assuming the animation wil take care of movement and rotation, not the movement component. You’ll then want to go into your movement blendspace (2D again, includes speed and turning variants) instantly, with the movement component taking over instantly, with no acceleration / deceleration,
For AI characters you’d want to blend into your stop anim a set distance from your desintation and may need multiple animations to handle different footprint configurations. Whereas the stop anim for a player controlled character would need to be instantaneous, with feet moving to a position underneath the body’s current location, rather than ahead or behind it.
I wish a bunch of us could get together to create a versatile animation system for bipedal characters like this that could be used for player and AI, whether they orientate in the direction they move or not. I don’t have time to create one from scratch myself but would happily get involved in one if I could help out.