By following the spcifications of the rules, and only allowing units to take move actions until they are fully on the battlefield, making them wait precludes several other sticky situations.
While most heavy walkers entering from the edge of the table will not be able to fire the turn they first move onto the table, that's not a bad way of showing some of the maneuver problems of the big vehicles without causing too many problems. Allowing them to partially enter, and then complete entering the next turn, gives the heavy a free space of uncontested movement where they are not able to be engaged, while allowing them to always fire on their first full turn of entry.
If you allow a partial entry, but retain the stipulation not allowing other actions, explain why the opposing player can't fire at the parts of the vehicle that are on the table. If you instead allow other actions to be taken while only partially on the table, you could wind up with players placing a heavy walker in a corner with only one square worth of vehicle on the table for far worse issues.
There are already scenarios where regular units might not be able to move onto the table on the turn they should. Think of scenario 4 from Operation Blue Thunder. Without having holes blown through the wall in scenario 3, the attacker has a three space wide entry area between lines of impassable terrain. Without Fast, Scout, or Move 2 units, they can move a maximum of eight units onto the table, but only if they flank with infantry. With that, three units could only move on one space.
While that scenario at suggested force sizes shouldn't cause a problem, play it at 300 points, or a similar starting zone for a different scenario, and the attacker could easily wind up with units waiting for another turn to enter.
By making the heavies wait until they can fully enter to start entering, you avoid other issues, and make them enter just as other units would for some scenarios.