The comedian, 46, was seen on his feet in New Jersey, walking independently without help from another person or a balancer.
Morgan was still using a cane earlier this year following the June 2014 car crash.
"The pain is always gonna be there for Jimmy Mack," Morgan said of his late friend in June during an interview on the "Today" show.
"He was a close friend of mine, a comrade in comedy. He was a loving man and he was a warm man. He was a good man. It just hurts me to see that he's gone."