This is not tango. This is walking like a circus clown. In tango, you move dignified and understated. It's not salsa.
My friend, keep your leg to yourself.
Always, always keep your weight over you feet. this means keeping your chest above your ankles. Don't ever just stick your foot out. "What if I'm moving, I have to move from one foot to the other?" you protest. Exactly, my friend, that is the key. You move your foot with your weight over it - side step, back step, forward step, even tiny mini turns or sacadas, whatever, keep your chest above your foot. This way you lead your partner with you, not drag her to you after the event. The foot you're moving from, well, leave that behind, and some tangueros like to leave it behind a while, to let it linger. Smoulder. No problem. It's the leading foot I'm worried about. It shouldn't lead without your whole body moving with it, above it.
If you don't do this normally, it'll take time to get it. But it will improve the way you feel as a leader, a man, the way your partner feels you, it'll improve your lead and connection. And you won't look like you're doing a circus clown walk, slapping your foot around.
Next time you're out at a milonga, watch people dance - a good way to learn. Take a mental camera snapshot, freeze their motion, Do you see their legs sticking out away from under them? That's not cool. Do you see them stick their foot out somewhere then not move onto it - that is even less cool.