Straight ahead VS pose to pose

In The Animator's Survival Kit, author Richard Williams describes two types of animation: Straight Ahead and Pose to Pose.
Straight Ahead animation, as described by Richard Williams, is "[to] just start drawing and see what happens - like a kid drawing in the page corners of a schoolbook - stick the numbers on afterwards" (61). Frame by frame, an artist can work to complete the piece without worrying about the technicalities, and can include as many spontaneous twists as they would like. This method allows for a lot of artistic liberty, and can be very fun to do. On the other hand, however, this method can be wandering, messy, and inconsistent (Williams 61).
In order to try this method, I animated a simple walk cycle. Instead of planning out what I was going to do, I just began making frames and adding whatever I liked. It was very fun, but as just as Williams warned, was messy and unstructured.

The second method of animating is called Pose to Pose. In this method, the key frames are placed first, exactly where you need them. Then, the blank frames in between the key are filled with tweens. This method is far more structured than straight ahead, but it can be less fun and more predictable. Williams lists "Where's the magic?" (62) as a con, and when I tried this method I found myself agreeing.

This method, although easier to space out, felt much more mechanical and less stylized. My question is: is there a noticeable difference between the two animations?