Can you visually tell the difference between leg that is driving, and one that is cycling through a full range of motion to allow the body to coast?
Ideally much of the energy at the bottom of the swing is a result of the previous downswing, so a lot of what the standing legs are doing into step 1 and 2 is simply carrying the flight of the body through space.
The issue with the arriving leg in step two is that the path of your body should be curving up enough from step one that you will coast into the rise - if you have to really lift your body with the arriving foot, you aimed to flat. Similarly, as you arrive on step one you shouldn't have to work very hard to get the swing headed up, if you do you probably didn't pull out of the dive enough at the end of step three - the lowest point is between steps three and one, but it's not that much lower than step three.