it looks good.

i think the feet are gliding.  a way i have used to help this is to go ahead and run the animation then set the keys to linear, turn off ik, and get rid of those keys i don't need. then i would plant foot objs from the original char at each space the char hits the ground.  so from here you can move the leg to foot elements to still them at the spot. 

did you print the animation with ik still on?  i tend to run my cloth close, so i'd always get pokethrough with ik still on.

 

lol these projects do drag on don't they?  i'm working on one right now that might take the rest of my lifetime.

go that way really fast.
if something gets in your way
turn