Jesus "walked" with God...so that means He accepted a blood sacrifice for His sins, right? Of course not. "
Walk" is a repeatedly used Biblical metaphor for "
Behavior", like when Enoch "walked" with God, or when we're told to "walk" in the ways of the Lord".
Those who "walk" after the Spirit are keeping God's commandments - they don't deliberately, habitually, impenitently break them, then claim God's promises of forgiveness through a OSAS License to Sin.