She abosolutely doesn't lean back over her heels! Ever!
That passage in the description of a walk is so commonly misunderstood, because it is poorly worded.
When she is just standing there, her weight is forward in her foot. If she goes to step backwards, she needs to move her weight back in the standing foot before she leaves it. But she does this not by leaning back, but rather by moving her entire body, hips and shoulders back, while preservering alignment.
The computer model, which has the wrong leg timing, does gets the weight/posture movement right. Some dancers lean back and cause problems that way. Wheras others attempt to use the leg timing shown in the computer model, causing their overly protruding front legs push their bodies apart - requiring arched posture or loss of contact. You can see that at various points in the demonstration figures here.