From Steinbeck's Cannery Row,
If one of you fellas wants to kind of edge into my cellar without my wife seeing you, they’re on top of the side stringer on the left-hand side as you go in.
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One meaning of edge is to move slowly in gradual bursts.
That might be quite how one would best describe sneaking toward just far enough into the cellar to grab the objects referred to, which the "kind of" emphasises, it's often used when a speaker isn't confident in what they are saying.