I think this is probably a software issue, but to try and pinpoint where my steps counting issue originates; watch home screen doesn't seem to update steps until I open Samsung Health so I wanted to see what would happen if I started a Walk activity.
The steps recorded by the watch home screen, the daily activities app on Samsung Health, and the walk activity itself do not match:
1. Home screen: 480 steps
2. Samsung Health daily activities: 584 steps
3. Walk activity: 656 steps
At the very least, shouldn't #2 and #3 above match?