I looked a lot of different places for any of these lyrics you posted but had no luck. Evidently, though, there are several versions of "I Want Jesus To Walk With Me" but I didn't find your exact lyrics in any version--and there's another song called "I Want Jesus," although no lyrics were posted so I don't know if it's the same song or not. Mississippi Fred McDowell wrote a song called "I Just Want Jesus to Walk With Me" but again, I don't think it's the one you want: HERE

Sorry I couldn't help. Maybe someone else here, can.