This is the way I came up with. I even attached a profile below if you want to try it. I had remove Go from the command, of course you can put it back if you want, and I added a Stop command, to stop moving.
Release W key
Release A key
Release D key
Release S key
Begin Text Compare : [{CMD}] Equals 'Down'
Press down S key
End Condition - Exit when condition met
Begin Text Compare : [{CMD}] Equals 'Up'
Press down W key
End Condition - Exit when condition met
Begin Text Compare : [{CMD}] Equals 'Left'
Press down A key
End Condition - Exit when condition met
Begin Text Compare : [{CMD}] Equals 'Right'
Press down D key
End Condition - Exit when condition met
Begin Text Compare : [{CMD}] Equals 'Stop'
Release S key
Release W key
Release A key
Release D key
End Condition - Exit when condition met