Yes, you can learn to walk differently, it takes a while to re-pattern, but it’s not hard at all.
Something you can do at home is to take off your shoes, and just experience your feet.
Start with simple weight shifts, and then go into very slow walks. Keep breathing, and experience the transfer of weight from heel to the ball of your foot. You will also notice that it’s not just your feet that are involved, but also legs, hips, center muscles, etc.
If your problem is the heels wearing out, I would also suggest the following exercise:
– Stand with your feet shoulder width apart, and be aware of the top of your head.
– Imagine a string tugging the top of your head. Let everything else relax downwards, so in effect, your body just hangs there, like a T-shirt on a coat hanger.
– Feel your chest opening up, and then also your back. Imagine a sensation like opening a window to the world.
– Keep that constant sense of up and move slowly. You will notice that your feet are lighter.
– You can also imagine yourself walking softly, like say among clouds. Note how your body readjusts itself to place your weight down lightly.
Somewhere along the way, you’ve managed to pattern yourself with excess tension, so by doing it slowly, you might be able to identify where the exact problem is But the point is not to be too cerebral about it; the point is to experience it fully and trust your body to readjust.
There are schools of thought like the Alexander technique or Feldenkrais that work with alignment / mind-body connection to free up excess tension and increase sensitivity; but something that everyone can do I think, is just to taste your movement, and in doing so, to help your body identify excess tension and repattern itself.