When I saw the word "walker"
When I saw the word "walker" I was thinking with an elderly person walker, lol.
Well, I started with a plan similar to yours. However, I went barefoot during everyday stuff, every chance I got - which for me was at least 50% of each day. And when I did have to wear shoes, I wore men's slippers (which look like shoes unless you are looking really closely) because they were super close to barefoot. I even managed to get away with wearing black socks into stores. No one noticed cuz they were black and didn't really catch anyone's eye like my negative-white feet would have. Lol. And I drove barefoot - it felt freakish at first. A wide variety of input to your feet should help jump start your newfound sensory feedback from your foot to your brain, and vice versa.
In retrospect, I would have hiked barefoot on trails, in addition to pavement, a lot, to help build up my skin and muscles. Since the terrain of trails is so variable, it should really help build up your long-under/non-used muscles too. I also spent some time purposefully walking on some small and medium sized gravel as well, testing out my skin thickness before I took "the plunge".
I would also recommend doing any exercises or drills listed anywhere on this site, specifically for barefoot running/training, etc., that do not include actual running.