>Inhaling deeply to lead a side step would kinda send a mixed message? <

One application of the side step in tango:
A side step allows for a release of tension between couples, and being 
more "grounded to the floor". When the couples are too straight with locked 
knees tension builts up, and we loose our balance, then the tendency is to use 
our arms to correct or support each other. 

Being more grounded to the floor makes the tango dance look popular and less 
stiff.

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