Sensory ataxia makes sense in PLS, though I know not everyone has it. The same tract that carries our UMN messages has a side job of being part of the "tell you where your foot is in space" system. I believe it's called procioptive sense, but don't ask me how to spell it! I think it also contributes to "wall walking", since the wall gives you a sure sense of where your body is vertically in space.
Just theorizing at this point, I think it contributes to trips, falls, stumbling into wall after spastic motions. Lacking any info coming back to the contrary, our brains seem to assume their plan worked and act as if we took the step correctly, or whatnot. If we really knew where our feet were, we'd realize we're way off before we faceplant on the ground.
Having said that, I am one of those who have amazing balance. In a manual wheelchair I did wheelie spins (once down a hill in the rain, that was fun!), I walked on stilts in my teen years, and on stilt-like legs when my legs became rod straight with the spasticity. The way I get back in my wheelchair after being pulled up is to lean back until I fall, and I get 10 pt landings every time.... though that doesn't stop medical folk from freaking out. My transfers from tall vehicles are like spastic gymnastics. So I'm speaking only from reading man accounts on PLS-Friends and other support groups.