Tiny adjustments in foot placement or tiny pivots can make all the difference between a step not really working and the same step feeling easy and smooth. The little pivot to readjust at the 2nd step in the left foot basic is a great example.

If a step isn't working, and you don't have any trusted person to ask, look around. Try how things feel if the follower steps a tiny amount more towards or away from the leader; try having the leader leave a tiny amount more (or less) space between himself and the follower. If this feels worse, go back to what you were doing and try something different. If it feels slightly better, you'll know you're on a right track to making the step work really well.