Yes this is true it can fall on both.
We have two defining points in the continuum when it comes to satire and those are as stated Juvenalian and Horatian. They are based on the writings of two great Roman satirists Juvenal and Horace. Horace wrote with more amused understanding of truth and his is more wry amusement while Juvenal is more critical and wants to harshly criticize the issues.
The two numbers in the time signature tell you how many beats are in each measure of music. A piece with a time signature of 4/4 has four quarter note beats; each measure with a 3/4 meter has three quarter note beats; and each measure of 2/4 time has two quarter note beats. ... It means each measure has only four beats. ( i copied and pasted from google just FYI)
In the poem, Tennyson refers to both Ulysses and Achilles. This technique is called B. allusion in literature.
When you use allusion, you are referring to people or places outside of the novel or essay, or whatever it is you are writing. And since Ulysses and Achilles are not Tennyson's characters, he is alluding to them when he mentions them in his poem.
Walk is the verb so walk is the answer