One of the things we point out to the students is that footwork should have recoil. We don't want them to kill their momentum with static postures.
Sometimes you see people do seven star step.
They just stand there like they learned individual positions in a set. They don't have explosiveness when initiating the footwork. They don't have sinking force to close the motion and generate power. They don't tap into recoil and rebound to make combination footwork. They don't use springy force when connecting with the opponent.
In the first pic, you can see the step into circle entering stance is preceded by a transitional seven star step which has the same timing as kick in the second one.
The step snaps out and sinks to grab the ground so that the rest of the footwork can snap forward and down.
You can see the same snap sink motion in this pic. Notice how the left foot appears and disappears at the bottom of the pic.
There is a relaxed explosive entry, followed by a momentary sink where the entire structure solidfies for a split second. There is a springy stick and press to pop the guy into the throw. And the pop rebounds forward into bow and arrow stance which also only appears as a split second transitional footwork.
In having the students train footwork for closing the gap, we make them launch off the back leg while kicking out the forward foot into a very long seven star step. We have the student sink their center of gravity while their front heel lands so they can use the ground connection to accelerate the back leg forward. We make them recoil the sinking force into followup footwork so that they don't kill their momentum and stand there unable to move.