For sure, when I was a teen my friend and I used to take walks "around the block" as a last resort when particularly bored, which where I lived was 3-4 miles of rural-suburban roads. I'd do them by myself too fairly frequently.

Like you say, it's a great way of putting your head in order. I would sometimes be in an uncomfortable/restless headspace when I started, but by the end of the walk I'd spent so much time thinking about almost everything in my life that I was far more calm and centered. It makes you realize how little time we give ourselves to really mull things over and explore thoughts in our day to day. The expenditure of physical energy really helps too.

Walking a significant distance feels like it draws on some kind of ancient part of our human brain, like a totally different rythmn and mode of thought, which I love.