I recently saw this toy in a superstore near where I work.
Link to Amazon product.
When do we see an Assault walker ? Is it in the assault on
The packaging left me with the impression that this was related to the force awakens
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I don't know that the walker appears anywhere in the movie itself. The assault on Maz's castle had troop transports and TIE fighters, but no walkers (they would have been a poor choice given the hilly terrain and nearby lake). It could have been planned (these were released well before the movie itself) but dropped in the final cut. The scene where I would have expected to see them would have been the First Order firing of Starkiller Base (where we see a new type of AT-AT on the far right)
It could be that these walkers are parked next to these and you can't see them due to the TIE fighters parked in front. It would make sense that they still exist, given their predecessor's use in the Clone Wars