A couple years ago we did some short "hikes" on the trails at the local state park. I really enjoyed it but soon we succumbed to "got too much to do today" or "stayed up late last night, will go in a few days instead"
I should look in to it again. It's the most enjoyable exercise I've ever done. Only carried a small backpack with camelback compartment and a couple snacks. Pulled an off road cart with the kids in it, lol.
You live pretty close to me (about 30 minutes) so I'd be up for meeting up and hiking somewhere. I do need to get a stick, but other than that I'm good to go.