Attention changes a walk when the route stops being merely something to finish.

A route treated as a distance to close turns everything along it into an obstacle. The same street, walked without that pressure, has weather in it, and sound, and other people going somewhere of their own. What changes is whether you are present for the part of the trip that is not the arrival.

Pick one walk this week that you usually rush and let it take the time it takes. Notice one thing on it you have passed a hundred times without seeing. The aim is not to walk slower forever, only to notice that the middle of a trip is time you are alive for.