I agree with you, the outdoors are my church. I have never felt God's presence in any church like I do in the great outdoors. Some people don't have that connection to the earth and are even afraid to enjoy and appreciate it.
Yes, such a walk is one of the best ways to relax. My nearest is the coast within walking distance of home but I don't have to travel far to be in the countryside.
These scenes are rather further from home, but I photographed them while walking respectively, on the Mendip Hills (the church is in the village of Priddy) and near Malham in the Yorkshire Dales:
Nothing could be more true than this. Being outside is so good for the mind and body. I am very fortunate that within a minute or 20, I can be out in deep woods or at the edge of the Atlantic Ocean. I have never taken it for granted.
That has been my practice all my life. The brisk walk isn't necessary for me. Just sitting under a tree away from people and the noise of civilization is fine. I tend to talk to the wildlife when they show up.