>Most human babies take 9-18 months to walk, and this is commonly attributed to the fact that human babies have immature brains that cannot mature due to birth canal constraints, which is constrained by pelvis size which is constrained by the need to walk upright.
You have this a bit backwards- yes brain size at birth is limited by pelvis size, but this means that humans are born prematurely compared to other mammals. The entire body is basically premature and underdeveloped, not just the head/brain. If anything the brain is relatively over-developed, as it's size is the constraining factor in gestation length.
If I remember correctly, 18-24 months is the estimated gestation time humans would have if not restricted by pelvis size (which ironically is itself a result of walking upright), and this fits better with the idea of being able to walk closer to birth.
There's a chapter in "Born to Run" that ties human physiology and endurance and evolution and brain development together in a way that's so elegant, it almost has to be true. It covers the steps that lead to the need for a bigger brain and walking upright as a means for persistence hunting. Highly recommended reading, especially that chapter.