I was looking through old Star Wars comics to see what might be interesting, and the classic Empire Strikes back adaption includes some bonus concept art in the back.
I really love the AT-ST design that ended up in the movie, but this sleeker more rounded version looks neat too. It looks faster and more agile, to me it looks like a single seater instead of the AT-ST double seater.
There’s also some kind of sketch of an AT-AT walk cycle.
I’m not going to go back and check, but as I recall the AT-ATs only ever moved one leg at a time in the film, I guess they couldn’t get two to work
They have a natural elephant-like walk cycle, but they do move slowly which might give the appearance of one leg at a time if you aren’t looking too closely.