```ts
export function labelCadenceWalk(edges: string[][], cadence: string[], start: string, goal: string): number {
    if (cadence.length === 0) {
        throw new Error("Cadence list cannot be empty");
    }
    cadence.forEach(label => {
        if (typeof label !== 'string' || label.trim().length === 0) {
            throw new Error("Cadence entry must be a non-empty string");
        }
    });

    edges.forEach(edge => {
        if (edge.length !== 3) {
            throw new Error("Each edge must be a triple of non-empty strings");
        }
        edge.forEach(nodeOrLabel => {
            if (typeof nodeOrLabel !== 'string' || nodeOrLabel.trim().length === 0) {
                throw new Error("Edge elements must be non-empty strings");
            }
        });
    });

    const nodes = new Set<string>();
    const graph: { [key: string]: { to: string, label: string }[] } = {};

    edges.forEach(([from, to, label]) => {
        nodes.add(from);
        nodes.add(to);
        if (!graph[from]) {
            graph[from] = [];
        }
        graph[from].push({ to, label });
    });

    if (!nodes.has(start) || !nodes.has(goal)) {
        throw new Error("Start or goal node must appear in at least one edge");
    }

    const queue: { currentNode: string, currentCadenceIndex: number, steps: number }[] = [
        { currentNode: start, currentCadenceIndex: 0, steps: 0 }
    ];
    const visited = new Set<string>();

    while (queue.length > 0) {
        const { currentNode, currentCadenceIndex, steps } = queue.shift()!;
        if (currentNode === goal) {
            return steps;
        }

        const key = `${currentNode}-${currentCadenceIndex}`;
        if (!visited.has(key)) {
            visited.add(key);
            const expectedLabel = cadence[currentCadenceIndex];
            const nextEdges = graph[currentNode] || [];

            nextEdges.forEach(({ to, label }) => {
                if (label === expectedLabel) {
                    queue.push({
                        currentNode: to,
                        currentCadenceIndex: (currentCadenceIndex + 1) % cadence.length,
                        steps: steps + 1
                    });
                }
            });
        }
    }

    return -1;
}
```