However Walker emphasised it was only a small step, with a much bigger test to come in Saturday's final.
On Thursday, New Zealand were quick out of the blocks to lead at the halfway point by just over a second and consolidated their advantage in the final 250m to finish in 1:36.70, 0.75s ahead of Germany.
The Polish crew set the fastest time of the day in winning the heat (1:34.78), with Spain and Australia also impressive.
"It's the old saying - stay humble or be humbled," said Walker. "We can't get too carried away just because we made a final. The more people in a boat the more complicated it becomes so in a K4 it is really important that you have a plan, stick to the plan and you work together as a team.
"You definitely can't get carried away thinking about outcomes at this stage. The goal still remains to just try and be a bit better every day."
After her work in the team boat, Carrington was untroubled advancing to the K1 500m semi finals, winning her heat in 1.55.75, 1.34s ahead of Anezka Paloudova, after she narrowly trailed the Czech at the halfway stage.
Para canoe athletes Scott Martlew and Corbin Hart were other standout performers on the opening day.
Two time Paralympian Martlew finished second in his heat to advance directly to the KL2 500m A-final, while Corbin Hart also punched his ticket to the decider in the KL3 200m event, after a second place in his semifinal.
"It was a cracking result for them," said Walker. "For Scott to go straight to the final and Corbin has only been paddling for a couple of years and looks like he is on a good trajectory."
James Munro (K1 1000m) and Ashton Reiser (K1 500m) finished sixth in their respective heats and have a second chance via the semifinal, while the men's K4 500m crew of Ben Duffy, Hamish Legarth, James Munro and Zach Ferkins face the same fate, after a sixth place in their heat.