Malone, a 2020 Olympian who took home bronze on horizontal bar at last year’s World Championships, topped the podium on his signature event with a 14.200.
Loos pocketed silver on men’s floor exercise (14.167) and bronze on still rings (13.900), while Walker finished in second place behind Yul Moldauer on parallel bars (14.500).
Malone garnered the third-highest parallel bars score of the day (14.367) but was not eligible for the bronze medal due to the two-athlete-per-country limit.
The U.S. men qualified to Sunday’s team final in the top spot with a 250.035, just ahead of second-place Brazil (244.201). Argentina, Canada, Colombia, Cuba, Mexico and Puerto Rico also advanced.
The 2022 Pan American Championships continue Saturday with two sessions of junior apparatus finals, beginning at 9 a.m. and 4:10 p.m. ET. The competition will conclude Sunday with the senior women’s team final at 6 a.m. PT followed by senior men at 12 p.m. PT.