As a non-native, I'm not certain if there is a perfectly native way to express this. Hence, my answer will focus on refining what's presented.
Getting started, by using 汝【なんじ】 in the first half you're definitely trying to give it an archaic feel; if you're not deliberately doing that, 自分 would be a better choice.
Using 歩く in the first sentence literally means "to walk", but comes off as a bit stilted to me; 進む【すすむ】 ("to advance") is what I've more often come across in such situations. Also, the original English is in the imperative, so the translation should reflect this.
As such, my rendering for the first part would be:
The second part is a little more difficult. The original English is "Let people talk," however the words you've chosen—when arranged for proper grammar—ask that the hearer forgive indiscreet remarks. By not specifying whose remarks to forgive, it creates further ambiguity.
As such, the translation depends on the nature of the talking you're referring to. If you really did mean it as an admonition to forgive others' indiscretions, then I would revise it to something along the lines of the following:
If you're really meaning simply "allow people to speak", then I would probably go with something more along the lines of the following, which is literally more along the lines of "listen to what people have to say":