Grace, elegance, poise, all somehow points to some kind of balance, or equilibrium whereas clumsiness implies a degree of imbalance, tension at play which can result in awkwardness.
In many things, we strive for the beauty that poise brings but in order to get there, we often have to go through the awkwardness and tension. It doesn’t mean things are going wrong, but the journey to an equilibrium is only possible along the lines of disequilibrium. It is a matter of whether circumstances naturally guides the state of affairs towards the equilibrium or that somehow other forces needs to be at work to enable it.
You don’t necessarily get to glide towards poise; and along the way, there’s going to be a lot of difficulties. The experts are able to make it look easy because they have been in that state of clumsiness for far longer, far more than you have been. If you’re not able to get through the awkwardness, there’s no way you’d be able to find your way to grace. Others have it easy not by going through more ease, but through more difficulty.