Introduction: Walking or gait impairment is a common consequence of stroke that persists into the chronic phase of recovery for many stroke survivors. The goals of this work were to obtain consensus from a multidisciplinary panel on current practice patterns and treatment options for walking impairment after stroke, to better understand the unmet needs for rehabilitation in the chronic phase of recovery and to explore opportunities to address them, and to discuss the potential role of rhythmic auditory stimulation (RAS) in gait rehabilitation., Methods: A panel of eight experts specializing in neurology, physical therapy, and physiatry participated in this three-part, modified Delphi study. Survey 1 focused on gathering information to develop statements that were discussed and polled during Survey 2 (interactive session), after which revised and new statements were polled in Survey 3. Consensus was defined as ≥75% (6/8 of panelists) agreement or disagreement with a statement., Results: Consensus agreement was ultimately reached on all 24 statements created and polled during this process. The panelists agreed that individuals with gait or walking impairment in the chronic phase of stroke recovery can achieve meaningful improvement in walking by utilizing various evidence-based interventions. Barriers to treatment included cost, access, participation in long-term treatment, and safety. Consensus was achieved for interventions that have the following features challenging, personalized, accessible, and engaging. Improvement of gait speed and quality, durability of effect, safety, affordability, and ability for home or community use also emerged as important treatment features. In addition to conventional treatments (e.g., physical therapy, including mobility-task training and walking/exercise therapy), RAS was recognized as a potentially valuable treatment modality. Discussion: This panel highlighted limitations of current treatments and opportunities to improve access, participation, and outcomes through a consideration of newer treatment strategies and patient/healthcare provider education and engagement., Competing Interests: Human subjects: Consent was obtained or waived by all participants in this study. Animal subjects: All authors have confirmed that this study did not involve animal subjects or tissue. Conflicts of interest: In compliance with the ICMJE uniform disclosure form, all authors declare the following: Payment/services info: All authors have declared that no financial support was received from any organization for the submitted work. Financial relationships: Kirsten E. Smayda declare(s) employment and stock/stock options from MedRhythms. KES is an employee of, and holds equity in, MedRhythms. Sabrina R. Taylor declare(s) employment and stock/stock options from MedRhythms. SRT is an employee of, and holds equity in, MedRhythms. David J. Lin declare(s) personal fees from MedRhythms. David Lin is a consultant for MedRhythms. Holly Roberts declare(s) personal fees from MedRhythms. HR is an independent consultant and has received professional fees from MedRhythms. Other relationships: DKR receives research funding (NIH R21AG076972: co-investigator, NIH R01AG081477-01: co-investigator, Florida Department of Health 20K08: principal investigator, VA RR&D RX003542: principal investigator) and is a consultant for Eversana and MedRhythms. CJW receives research funding (NIH R41 HD104296: principal investigator academic subcontract, NIH/NINDS R21 NS120264: co-investigator, and NIH/NICHD R01 HD059783: multiple principal investigator); is a contributing editor for and receives royalties from Human Kinetics, Motor Control and Learning, 6th edition and Demos Medical, Stroke Recovery and Rehabilitation, 2nd edition; serves as an external advisory board member/consultant for MicroTransponder, Inc., MedRhythms, Inc., and Axem Neurotechnology, Inc.; and serves on the data and safety monitoring boards for Enspire DBS Therapy, Inc., and Brain Q (Syntactx, LLC). MDL receives research funding (NIH R21-HD111833, NIH R01-HD110519, NIH R01-HD111074, NIDILRR REGE22000170, NSF 2306659) and is an editor of and receives royalties from FA Davis, Joint Structure and Function: A Comprehensive Analysis, 6th edition. DJL provides consultative input for the MGH Translational Research Center on a clinical research support agreement with MedRhythms. HR is an independent consultant and has received professional fees from MedRhythms. PR receives research funding (NIH R61AT012279, R61AT012286, American Heart Association, the Johns Hopkins Sheikh Khalifa Stroke Institute, and MedRhythms, Inc.); is an editor of and receives royalties from Elsevier, Stroke Rehabilitation, and Springer Nature, Spasticity and Muscle Stiffness: Restoring Form and Function; and is the co-founder of Mirrored Motion Works, Inc. and Movease, Inc. MWO serves as an advisory board member for Merz, Inc., (Copyright © 2024, Rose et al.)