Glitch When moving to Sideview/ Start walking animation

Dear Peopz,
i hope you can help me whith this problem since i try to stick down all the movement in Ch.
My problem is, that my chars legs and arms do a small glitch when i start the walking cycle/ enter the sideview.
I followed this tutorial.
https://www.youtube.com/watch?v=MUtRnMMOTmo
But since the arm ik and stuff didnt work. I messed around with the independency settings of the arms and legs until it finaly did what i wanted and the body sticked to the ground. I think the problem is deeper in my structure and i hope you guys can help me.
Here is my problem. The little movement of arms and legs after i start the walk cycle.
https://youtu.be/ErJtGqTN9kI

And my structure looks like this.
If thats all to messy to even talk about, lets forget about this problem and i go back to AE for now.
Sideview and Frontal are exact copy of each other.

Head:

Body:

Legs n arms like this:

Single body parts to make them independent and dangle-able 😄

and the summary of the body

I tried a lot and also tried to re rig everything but when everything worked again as planed, the problem reappeared. I hope you can help me. Have a good day.