Doki

Doki, also sometimes called Doki Adventures, contains such scenes in multiple episodes. As a Discovery Kids program, its main focus, evidently, is to teach kids about science. There's one episode on Mars, Mars or Bust, but it's a bit of a complicated case to add in looking at Help:What is a spacewalk ?.

Doki in Orbit (S01E02a)
The episode first shows Oto in the void for a short while, starting near the 5:10 mark, since he crashed the ship's thrusters into the ISS earlier while docking. Mundi could have apparently been in the spacewalk, but Oto seems to have forgotten to prepare a spacesuit for her. The main core of this scene shows his tools getting stuck in each other, and teaches us that when two pieces of metal touch in space, they can be permanently stuck together due to cold welding. At the end of the scene, we can see, seemingly in an inconsequential manner at first, that he dropped the now unusable tools off-camera, but are then floating nearby him to about 0.514 Oto per second (the only point of reference here, sorry), as of the 5:55 timestamp which.

There's a second spacewalk, this time only including Doki, starting near the 8:12 mark. This time, it's due to Doki's fault, as he tried to juggle with eggs in the station, but due the low gravity, the eggs ended up in the wrong spots, cutting all the power off, and requiring him to get to an external switch. However, Oto's tool mess from earlier comes back Chekhov style, breaking the tether to the switch near 8:35 at a speed of about 0.89 Doki per second, leaving Doki in a bit of a perilous state as he drifts further from the station and with jamming communications. He then uses something Valentina taught Doki (and the spectators) earlier, which is that the more things he throws at sufficiently high speeds in the opposite direction of where he wants to go, the closer he will get to there, and implicitly faster the more things the throws as well, which he figures out first-hand during the spacewalk. He obviously succeeds, and the walk ends near the 9:55 mark.

Doki's Double Trouble (S02E02b)
The spacewalk scene sort of starts after the 8 minute mark, this time on the Moon. As a preamble, Doki was mistaken for Duncan, a sort of space pilot to some extent who looks extremely similar, and was charged to drive the rocket we see him come out of to the Moon. He managed to do it, and his friends as well as Duncan are here to see him there as well, just in case. Although, he does seem worried he may have broken the ship a bit. Oto figures out it's only the door but a metal rod seemingly kept it misattached, which could get the rocket to burn in re-entry in that state. The door gets repaired using Doki's space-adapted pen. Doki and Duncan switch back to their normal places, and the spacewalk ends about a minute and half in.

Stuck in Space (S03E20b)
No streaming service, torrent, physical format, even considering bootleg releases, or any other form of archiving, however legal any of these may be, can be found for this episode on the worldwide web as of now. Searching for Doki on the internet is rendered even harder considering doki is a very common word in japanese, including animes like ''Doki Doki! Pretty Cure, but also some completely unrelated animes due to Doki Fansubs, and as if the research wasn't polluted enough, there's obviously the absolute mastodon that was Doki Doki Literature Club'', singlehandedly making any search for this cartoon's episodes absolutely gruesome. This episode can be found in many Latin American countries (Mexico, Colombia, Argentina, Paraguay, Uruguay, Chile, Brazil...) but streaming services here do require an account on one of the TV broadcasts there, and possibly even in UK according to Prime Video, but in both cases you'll usually need a regional credit card, hence the strong regional lockout.