I love to walk with my family. We have  afmaily walk every Sunday afternoon. Our neighborhood almost expects its. It's a predicatble pattern and a flexible informality at the same time. 

I'm not currently a solitary walker becasue it's still a little cool and that kind of weather bothers my ears, but when it's warm enough I like to walk in the monirng when everyone is still asleep in the beautiful way you described, "I’m able to get in touch with that often-muffled voice deep within me."