Reply To: When offsetting action to other foot, the translation is moving the foot back too far

is it at the correct point in the cycle?
Hopefully this makes sense but each foot is half a cycle different.

In the video I think I mirrored each pose exactly at the same time, then I shifted it by half a cycle, and then adjusted the keyframes,

You might be missing one of those steps.

I hope that helps you figure it out.