That is a very nice feeling, indeed! Unfortunately, I don't have that feeling nearly enough. It's not that I feel clumsy or uncomfortable, but rarely do I feel like I actually know what I'm doing. I may expand upon that thought later.
I will have to buck the trend here, and say that I do not find How to Walk in Heels videos to be very helpful at all. There are a significant portion of them that are just wrong, or give bad advice. Those that do give correct advice present it in such a way to be less than helpful with the motion of the walk, if that makes any sense. And whoever says you need to walk upon a straight line, or worse yet, cross your feet over each other as you take each step needs to be publicly shamed. Nobody walks that way on the street. It looks beyond absurd. I'm not saying that there aren't any good videos out there, but they are few.