The issue is not about whether or not you use your legs. 'Walk out' means to decide to leave suddenly and without explanation. It generally has a negative connotation. For example, if you leave a restaurant without paying, if you leave a meeting because you're angry or if you leave your husband or wife because you are unhappy. 'Her husband walked out' means that he abandoned his wife and family. That's how we used 'walk out'. The people left behind are shocked and/or upset at your abrupt decision to leave. 'Get out' suggests that there is some kind of difficulty involved. It means that you are finally able to extricate yourself or be released from somewhere - like getting out of prison. If you say that you got out of your meeting at 6pm, it means that you were unable to leave until that time. If you're in a noisy, airless, overheated room, you might say that you need to 'get out'. In this sense, it means escape. 'Go out' is neutral.

Walked out - Describing you using your legs to leave, no ambiguity Went out- it's usually implied that the subject is walking Got out- could be used with getting out of a car, a submarine, a plane, etc.

You should use: "I walked out".

You can use "Walk out" if you want to emphasize that you left by walking, but generally, "got out" or went out are fine too since English doesn't often specify the method for verbs of motion. (Unlike Russian).

Keith, I asked it in general, thank you