This has previously been discussed here (e.g. Can I Enter Steps Manually? ), but with no solution that I saw. I thought I'd share what I did in case it helps someone else:
If you realize early enough and there is still a timezone left in the world that is on the previous day (the day you missed your steps on). Force your phone into that timezone via manual set (I used Honolulu), set your watch's time sync setting to "Phone" (this still showed the wrong time for me, so I'm not sure it's really needed, I also tried to manually adjust the time on my watch to match the time in the timezone). Leave your phone open on your glance view and start walking. It took what felt like an eternity - but probably was just a few min - before my previous day counter started going up, but it eventually worked and I could save my walking goal streak.