One of the things i found that helped me do steps like this smoother, was strengthening my ankle balance. Best way I've leared was to roll as far as I could on one foot, and do it with both ankles. Make sure you keep you foot at a slight angle so you steer with one foot, then practice doing small carves on one foot.
Once you get used to that, it should be much easier to do smooth cross steps, because you will be stable on either one of you feet, no matter the position.
Good luck, and keep practicing!

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