There is a Japanese word sanpo (散歩: scatter+walk) which is a stroll, or as husband says, a walk without purpose. I still get anxious about taking a walk for no reason, which I think is leftover from having lived in a couple of places where anyone who doesn't drive is either just so weird omg or actually in danger. So even though I live in one of the most safe and pedestrian-friendly places in the whole wide world, I often have to decide on a destination before I can convince myself to take a walk.
So I end up making lots of small trips to the grocery store. Sometimes I even save items on my list for a later trip. After talking to some other expats here and abroad, it sounds like this is not unusual, and Americans are the weirdos.