you can quilt with just a regular foot if you are doing simple straight stitch. darning foot is for free motion quilting, feed dogs up or down. where you have a fast pedal speed and move the quilt yourself a bit slower.
many people quilt without a quilting/walking foot.
if you can piece blocks with that foot you have, you can quilt a quilt. just not too small a stitch length when quilting the whole thing together. that helps prevent puckers. good luck.