Missed by most of the other comments is the advantages that asymmetry gives to *starting* locomotion. Walking on two feet or four requires twisting a spine, which means half the body has to rotate forward while the other half rotates backwards. Our internal asymmetry is an inbuilt twist that biases planting a right foot and swinging a left, using gravity and internal torsion to start walking. Basically it’s more efficient.
Source: The Postural Restoration Institute has been studying human asymmetry in movement and posture for 20+ years
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