>>4711OP here, I totally forgot about this thread.
Sounds like you have perfectly fine motor control, but subconscious inputs (Like walking without thinking about it) are sloppy.
Perhaps using said subconscious inputs while paying conscious attention to them would work, as you would be able to correct them.
Walk, and then consciously put walking into suconscious control (This is pretty easy to do, although there would doubtless be those who run into difficulties).
Doing this exercise with increasingly tricky manouevres may teach your subconscious motor input to do its job properly.