Don't think of it as just a walk...
𝐃𝐨𝐧'𝐭 𝐭𝐡𝐢𝐧𝐤 𝐨𝐟 𝐢𝐭 𝐚𝐬 𝐣𝐮𝐬𝐭 𝐚 𝐰𝐚𝐥𝐤 - 𝐭𝐡𝐢𝐧𝐤 𝐚𝐛𝐨𝐮𝐭 𝐢𝐭 𝐚𝐬 𝐰𝐚𝐥𝐤𝐢𝐧𝐠 𝐰𝐢𝐭𝐡 𝐚𝐧 𝐨𝐥𝐝 𝐟𝐫𝐢𝐞𝐧𝐝, 𝐡𝐨𝐥𝐝𝐢𝐧𝐠 𝐡𝐚𝐧𝐝𝐬.
Some people get a dog because they love walking. Some people get a dog because they would like a reason to go walking. For some people walking the dog is a chore or a bore and they would rather not do it.
I personally get immense joy from feeling like I'm looking after my dogs well - and I love being outside with them. Don't get me wrong, some days I would rather sleep in or stay cosy inside watching a movie, however, I try and keep aware of the fact that I am the one who is in control of their choices and experiences and it's my duty to provide them with stimulation.
The freedom to exhibit natural behaviour is one of 'The Five Freedoms' which are internationally accepted as being the standard of care for all animals. For dogs - walking, sniffing, and exploring are all-natural behaviours which should not be denied.
A 5 minute trip around the block is not enough.
The idea of walking with an old friend, and holding hands is something I contemplate when walking with my dogs. My old dogs in particular.
So on your next walk - create an adventure. Put down your phone. Observe your dog and their behaviour. Leave the ball thrower at home. Take some food with you and reward recalls. Just enjoy it!