My husband hears footsteps in the house at night...
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I mentioned it to my DH when he got home. He said he heard it before, but figured out what it was. It always happens when it's very quiet. Why is it quiet? Because the a/c (or heat) had just turned off, and after that noise ceases it becomes super quiet, and then as the temperature of the ducts warm up (or cool down if the heat was on), the metal duct sort of pops as it expands and contracts. As one section of duct pops, it puts pressure on the next section until that pops, and so on. That's why the sound seemed to be "walking" across the floor. Now we know exactly when we can expect to hear our phantom footsteps.
I've had that experience in a couple of houses I've lived in, too - it can sound similar to footsteps. Don't know if that's the case for the OP's husband's experiences.