No, humans definitely need to learn how to walk and talk.
Just because it happens subconsciously doesn't make it any less learning. Babies don't know how to walk, they need to practice and learn it. Nor do they know how to speak, they must also practice and learn it.
If you were to unlearn everything in your life, your brain would be indistinguishable from a newborn - by definition. Your brain only changes itself through learning. Also, adult brains have has far less neuroplasticity than toddlers so enjoy being unable to learn even a quarter of the knowledge you gained when you were a child.