If you want units to walk not in safe mode but with their weapons in hands you should make them move in stealth mode, and use SetUnitPos "Up", and I think speedmode should be set to "limited" in waypoint. I used code:
in init field of any unit from group you want to walk:
"_x setcombatmode ""stealth""" forEach Units group this;
"_x SetUnitPos ""Up""" forEach Units group this