In the introduction to footwork, we described the action cycle. There are six stages, as seen in the figure below.

Throughout this cycle, certain footwork is needed to maintain a rally. During the observation stage, you might be using the sidestep and during the orientation stage, the split step. In the adjustment stage, the sidestep and forward steps are needed with skips and deceleration steps to fine-tune your positioning. The adjustment stage might also require a back step followed by a halting step. The preparation stage requires getting your momentum forward. The strike and recovery stages are the least active footwork stages. The strike stage might require shifting your weight forward and laterally to offset the force of the stroke. Recovery might require a halting step that forces your body back into the court. These movements are illustrated in the video below.

As with every aspect of tennis, there are no fixed rules. Often you may have to improvise. What is important is to understand the concepts and combine the various steps and stages to obtain a desired result. If you master the steps and stages, you will be able to adapt to the changing circumstances of play better than trying to memorize a template.