I think some of the synonyms would be:
Advance, amble, ambulate, canter, escort, exercise, file, foot, go, go on foot, hike, hit the road, hoof it, knock about, lead, leg, lumber, March, Meander, pace, pad, parade, patrol, perambulate, plod, prance, promenade, race, roam, rove, saunter, scuff, shamble, Shuffle, slog, Stalk, step, stroll, stride, Strut, stump, take a walk, toddle, tramp, travel on foot, traverse, tread, troop, trek, trudge, wander, wend ones way
All i can really think of right now :)
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There are several words that mean 'to walk aimlessly', including:wandermeanderroam
In the example given, the correct selection is "He and I are going for a walk." Words such as "him" or "me" are object pronouns. It is also traditionally polite to use "he" or "she" before "I" in a list (such as "He, she, and I went for a walk").
Strange, ungainly walk.
Linking words that are similar in meaning.
The word "CREEP" comes to mind. The word "CREEP" comes to mind.