I envy people like you! I struggle - and usually fail to enjoy 'going for a walk'. I get home thinking what a waste of time that was and how tedious it was!
But I'll happily walk and get up to the 10,000 steps level where I have a good reason to. I don't have a car, but am retired and can go for days without any real need to walk any distance, especially as most of the things I spend my time on are home-based and sedentary. So I'm having to create real needs in my life for more exercise. My biggest success has been stopping having regular supermarket deliveries! This has forced me to walk to do my shopping (though there are buses involved in this as well), plus I carry everything home.
I need more bright ideas that'll work for me, though.