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I was experimenting with the NLA editor to loop a walk cycle. I've decided I no longer want use the action strip, how do I release my keyframes back into the timeline without losing them? Thanks!

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Keyframes are stored into an "Action", which has a name (Generally the rig name + Action, like "MyCharacterRigAction").

Delete the action strip from NLA, open a Dopesheet Window, turn it to an Action editor, select the rig and choose the Action from its dropdown menu.

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