My research so far:

1. This answer by lambshaanxy states it was not possible in 2014:

you can't even walk across the Causeway now that Malaysia shifted to its new ridiculously huge and rather distant Customs building.

2. The Wikipedia page on the Johor–Singapore Causeway states:

Since 26 March 2022, both countries have permitted pedestrians to walk along the Causeway by foot

3. However, this Youtube video shows it was already allowed in 2018.

This makes me wonder: When did it become allowed to walk across the border between Singapore and Malaysia via the Johor–Singapore Causeway?

My research so far:

1. This answer by lambshaanxy states it was not possible in 2014:

you can't even walk across the Causeway now that Malaysia shifted to its new ridiculously huge and rather distant Customs building.

2. The Wikipedia page on the Johor–Singapore Causeway states:

Since 26 March 2022, both countries have permitted pedestrians to walk along the Causeway by foot

3. However, this Youtube video shows it was already allowed in 2018 (screenshots in case the video goes down: https://i.sstatic.net/n6vAw.jpg; https://i.sstatic.net/IxRIO.jpg)

This makes me wonder: When did it become allowed to walk across the border between Singapore and Malaysia via the Johor–Singapore Causeway?