Walking awkwardly, not the first European to trespass (7)

I believe the answer is:

impinge

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'to trespass' is the definition.
(I know that impinge is a more specific form of take advantage)

I don't understand how the rest of the clue works.

Can you help me to learn more?

(Other definitions for impinge that I've seen before include "Encroach - strike" , "Encroach, have effect, on" , "Strike - make an impression (on)" , "Encroach on the pig in me" , "Encroach (upon)" .)

I've seen this clue in The Times.

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