Free to maybe set out and walk (6)
I believe the answer is:
stride
'walk' is the definition.
(stride can mean to walk around)
'free to maybe set out' is the wordplay.
'free' becomes 'rid' (to be free of something is to be rid of it).
'to maybe' indicates anagramming the letters.
'out' is an insertion indicator.
'set' is an anagram of 'ste'.
'rid' going within 'ste' is 'STRIDE'.
'and' acts as a link.
(Other definitions for stride that I've seen before include "Take long paces" , "Extended footstep" , "Move with long steps" , "style of jazz piano" , "Walk with long steps" .)