There is a great history between Buddhism and Walking. The 'takuhatsu', carrying the bowl or begging rounds, could be up to 3 hours of walking door to door. 'Angya', going on foot or pilgrimages, are a tradition that also goes back to the beginning of Buddhism with the wandering medicants. Some traveled to follow the seasons, others to find another teacher to guide them on their way.
Also, in Zen we have Kinhin (kin = walking about, hin = around). We usually use this to mean the walk around the sitting area between zazen (za= to sit, zen=mediation). But we contrast this with Ruten (Ru=float, ten=circle) but ruten is floating aimlessly from life to life without ever finding the path from this circle of lives.
So Zen walking, though it has no goal, is not aimless.
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