Irvin said he came away impressed with both players.
"Great, great guys,'' Irvin said. "I love them both, and really, both of them deserve more recognition than what they get. I told Delanie Walker, he could have walked away with MVP of the Pro Bowl if we designed things better because they were dropping guys in coverage who couldn't cover him. A lot of guys have a lot of trouble covering him, really.
"But I love them both. I spent some time with them and talked to them, and I just think they are both great players. Delanie Walker, that kid can do everything. I don't know how the (49ers) let him get out of this city, because that boy is a beast right there."
Irvin, who played 12 NFL seasons with the Dallas Cowboys, said the Titans need to surround Walker and Casey with better players. Irvin said he likes Titans quarterback Marcus Mariota, and thinks he's going to be very successful in the NFL.
Walker led the Titans and all NFL tight ends with a career-high 94 receptions in 2015. He had 1,088 receiving yards, with six touchdowns. Walker set franchise records for tight ends in catches and receiving yards in 2015.
Walker caught three passes in the Pro Bowl, including a 53-yard touchdown pass from quarterback Jameis Winston.
Casey started all 16 games at defensive tackle and tied for the team lead with seven sacks. Casey ranked second on the team with 11 tackles for loss, and a career-high 28 quarterback pressures, while also racking up 86 tackles.
Both players turned down chances to go to Pro Bowl in previous seasons.
"Those guys deserved to go, and they did well for themselves,'' Irvin said of Walker and Casey. "Man, the Titans have themselves two tough, good players in those two."
Titans TE Delanie Walker and DL Jurrell Casey compete at the 2016 Pro Bowl. (Photos: AP, NFL, Dwight Spradlin)