He has definitely improved although people on here were saying he's Walker but with crossing ability and has the potential to be better than him. I'm not sure of that but he's definitely better with the ball than Walker although his positioning and anticipation isn't as good. Often out of position and goes to ground easily. Looks like he is learning though and he's only been here 6 months so lets see how he does next season.
Walker's positioning early in his career was awful, his speed used to bail him out.
I expect Aurier will improve on that.