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I could maybe crabwalk to a destination, but up is up and down is down no matter which way I face,
IF you are crawling around on the outside of a ship you are kinda limited by handholds to whatever direction they run in. Then W is up/fwd, S is down/back, A and D are the left and the right. Space is let go and F is grab. B will allow you to board when at a hatch.
Pressing "R" will flip down the arms for a little jet pack and allow for flight like RCS thrusters will (which is what it is). Then you can manuver like a spacewalk as a "craft" using RCS.
You do have to let go first before activating the pack. Don't sweat running out of RCS - the pack has enough DeltaV in it to almost push a craft to the Mun.
I'm fine on Minmus/Mun whatever, but in space it's insane. Rescue missions are a cinch to get the ship near, and a royal pain to get aboard. I'm fine if I can hop out of my ship and hop back, but ship to ship, not so much.
I think I'm just doing a poor job of explaining it. I can kinda "roll" them by changing camera angle and just manuvering in a single direction while I change the camera angle. You can also vary axis by pressing two (or even three) axis keys at once but that gets messy fast.
Also, when walking, I believe the alt key switches between modes. If you want to face the camera and walk, press alt and pressing S will make the kerbal walk towards the camera rather than walking backwards....something like that. I dont use this much.
There's also a setting in the options. Eva auto rotate to camera. That might be what you're looking for in EVA controls....much harder though.