In this update to my 'Automove ToolSet' I've added movement independence to body sections for spine flexibility on the turns. Also, there's a section drop implemented for the 'follow through' body movements when a limb makes a step.
Another thing, I've tried animating the 200-legged millipede using the old version. It took ~45 minutes to animate 700 frames. So I had to revise the core functionality from scratch. Now it works much faster than it was. 3 minutes of millipede animation was done in around ~12 minutes.