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Well, here's one solution... don't animate! If you hate animation and don't really want to learn it, maybe you should look for ways to create a game without having to animate a character. If you really do want to learn it, well, you're gonna have to spend years practicing just like every other good pixel artist. You've reminded me of this very nice video from Indie Game Clinic (specifically the first few minutes):

Being a solo dev who does everything is kind of insane. You need to look at the skills you already have and think about what you can make with those skills. Of course you can learn new things too, but if you try to learn everything at once then your game will take forever and most of the individual components will be low quality since you're just learning them.

Another way to get around animating would be to use someone else's assets, there's a lot of cool pixel art for sale here on Itch, and buying here means more money goes directly to the creators.

I'm also wondering about your specific art style... you mentioned two games with completely different animation styles. The walking animations in Undertale are very simple, whereas in Stardew they are more complex... but keep in mind Stardew took FOUR YEARS to develop. The amount of effort required to make your walking animations will depend heavily on the initial complexity of your sprite, and the overall level of detail that you expect to have in the animation. Final Fantasy got away with just 2 frames for walking around the overworld!