As far as I'm aware, the correct technique for just a basic QM is opposite hand to opposite foot. When you were balancing on the rail, you did that, stairs, not so much.
When you were QM rail balancing, you put your hands and feet extremely close together. Not that I'm saying it's a bad thing, but when I do that, it feels really uncomfortable to me.
To you, it may not so much, but try lengthening the distance between the two and see if it feels more comfortable.
Other than that, looks pretty good