Why can’t we walk straight?

That’s a good question. But, thinking about it, it is not so surprising that we can’t walk straight (it is not easy to balance the body on two feet) as we have no sense dedicated to that purpose (and little need for one, evolution-wise).

What is more surprising is that it does not result in a random walk (some leaning left, some leaning right) but rather circular motions.

My guess is that the legs and feet are not sensitive enough to small variations in pressure, and if you start leaning to one side the additional pressure becomes the norm. Combine this with a dominant side, which may get tired after a while (therefore leading two counter-circles), and you get a plausible explanation. The next question is how to validate such a theory.

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