Yes it does matter how you walk. Every step you take you are ingraining a movement pattern which will translate to how you run and move in your spot. If you walk poorly, eventually it will hurt the way you move in other activities.
So how should you walk? Walk with your feet pointing forward (not out like a duck!) and keep your foot and arch in a stable position, not collapsed inward. We get asked a lot if it is bad to land on your heels when walking. The answer is that it is normal to come down with your heel first when walking, BUT like running you should not be stomping around with your knees locked out. The sensation provided by ShoeCue will help you dial in your movement when walking. It does matter and will carry over into the way you move when running, lifting, or playing your sport.