That and memory foam / gel pads in your shoes. I walk a lot since the lock down and I've had knee issues in the past. Good gel pads help and using your knees with light exercise actually improves things. I Mostly wear sneakers. Hiking shoes tend to be a bit more rigid and have less shock absorption.

The poles might help as well. Nordic walking, is a thing that a lot of cross country skiers do in Scandinavia to stay in shape during the summer. Also nice for people with balance issues or weak backs of course. Done properly, it makes for an intensive workout.