I'd agree that skipping is fine, as long as you are not spiking, which can only be confirmed through testing. It sounds like you do this anyway, but I'd say make sure your breakfast is as close to you starting exercise as much as possible. At the end of the walk check you BG and if you are within your acceptable range then that is fine.
Alternatively, have some insulin, aiming for a slightly higher mid morning reading, then late morning have a small peice of fruit/snack to stop the hypo.
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