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Well I'm not a native, but:
You can (and hopefully, should always be able to) walk out of a bad deal.
Or you can stage a walk out protest, like Google employees did recently.

Sometimes you have to walk out to make a stand.

P.S. On second thought, when "on" is used specifically it's almost exclusively negative and this includes situations when you "walk in" on something or someone.

Yes I believe it is generally negative.

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