My personal solution ...

Got the walking discomfort thing figured out ... since I don't stretch or warmup before a walk (yeah, yeah I know!) ... I just get going fast out of the gate, and by the midpoint of the walk I'm hurting in the ankles and shins.

I now walk easy the first mile, and by that time I am warmed up and kick up the pace, and feel great for the rest of the walk.

Listen to your body ... and think with your head!

Walk on!