There’s nothing wrong with saying “they walked”, but if you want to mix it up or be more specific, here are some alternatives:
|Walk at a leisurely pace.
|Walk in an idle or leisurely manner
|Slowly, aimlessly, often with twists
|Walk with effort or reluctance
|Walk at a slow, easygoing pace.
|Proud, often arrogant or bouncy walk
|Walk with a careful or cautious step.
|Walk stealthily like a predator
|Briskly or hurriedly, often with small steps
|Long, decisive steps
|Light, quick steps, often kids or animals
|Regular, steady, with purpose/confidence
|Move quickly with playfulness or fear
|Walked in a relaxed, unhurried manne
|Back and forth in a regular, measured way
|Walk with difficulty, often due to an injury
|Short, dragging steps. Shy or reluctant.
|Walk with effort, often through mud
|Walk heavily, often over a long distance
|Reluctantly or without a clear purpose.