I've done most of my quilting with a walking foot. I've used my embroidery feature a few times to do the quilting, but haven't liked it as well as the walking foot. Takes a lot of time to hoop and rehoop. I've been doing more with fmq for the last couple of years and am getting a bit better. I've forced myself to use it on smaller projects this year. But I can't say that it is really enjoyable for me, I do get somewhat tense with it, but again it is getting better, both the result and the anxiety.