Not OP, but share similar sentiments with OP about exercise, so maybe this perspective can help. /shrug
Hiking is my jam. I love it, and it's the one area of exercise where getting my ass kicked physically feels incredibly worth it. The trouble with hiking is that I like getting out into the mountains to do it (I prefer the less-traveled hikes that really get out out, up and away from everything and everyone... solitude, baby!), and I have a couple of small kids, so I can only get around to what I consider a "quality" hike once every couple of months. That'll change as they get older, but yeah.
Walks are different; I walk my dog for about 20-30 minutes every night, but it's just not the same for me.
I hate it. I’d rather exercise (which I do, just unhappily) than walk somewhere just for the sake of walking. When going somewhere by myself, I walk at a speed that some people would call jogging, but that’s for getting to a spatial goal.