1- Youmay walk more than three steps for doing Masah of your feet the only thing is that this walk should not be considered as your are walking for something else in between your wudhu because in wudhu Mwalat (continuity) must be maintained.
2- You May correct any mistake in Namaz before going to do another action.
3-if it happens unintentionally and you have corrected it then no need to repeat your namaz.
Make sure before namaz that your clothes must be according to shariayah rules.
4-The very first step to achieve concentration in Namaz is that one should know complete meaning of namaz if Arabic is not his/her language. So please try to learn all Surah , Zikr and Qunoot Tashahhud and Salam etc… meaning then try to start contraction step by step first try to have contraction while reciting Sura Hamd then later do same fore 2nd Sura and the later in the zikr of Ruku and Sajdah and so on..