It is fairly common to place the heel first and then smoothly roll onto the foot.
John Kells taught us to step as if the toes were going to touch first, then place the heel. This is done as a smooth movement, like a swallow swooping. It is not a point toe, then place heel movement.
This has the added benefit of having to remain and sink on the rear foot a nano second longer. Step like a cat. You should also be able to take the front foot back off the floor if you don't want to commit your weight without lurching back.
I have also come across this stepping idea in my Sun style Xingyi within Piquan. Here the emphasis is slightly different, as the front foot acts a brake and causes a recoil so the energy comes into the front hand. In Sun style Piquan the rear foot does not follow up.