if we are counting ones that do require some pushing G1 scorpinok legs move when you roll him along the floor
Star Convoy moves by himself. Although that's because of his treads, so it's not an actual walking motion.
If "moving" can mean rolling, the Jumpstarters, Battlechargers, and Throttlebots drive on their own after you pull them back. The Throttlebots even roll in robot mode, so it's kind of like walking.
Well they have wheels instead of normal legs. And its motorized. So its acceptable. Beast war 2 Gigastorm. Definitely walks. He's a retooled trypticon. Jumpstarters are no where near as fun as throttlebots and battlechargers. At least for me.