I had heard about how hard it is to walk in heels. GG would tell me how hard it is and how they hated wearing them. So...when I purchased my first pair (4" ankle strap) about 2 years ago it was with much trepidation, as I slipped them on and stood up. What I found was that I was basically standing on the ball of my foot with supporting weight on the heel. I will never forget my first steps….toe first then relaxed to put weight on heel. It only took a few steps to learn that I could put a little weight on the heel first then step forward with the ball of my foot. Sounded great...only heels make that sound...and the wiggle of the hips comes natural!
I have found that different heels take more work, and it does not necessarily depend on the heel height. Sling back 3 inch heels are a problem for me, because there is little support of the heel of the foot. Pumps and especially pumps with straps are the easiest for me as they give the most support of the foot.