The health benefits are very nice too if you’re just starting out. There are diminishing returns as your body gets used to it.
15 minutes in the morning/afternoon is my usually habit while at work. But on particularly tough days or just ones with nice weather I’d go for much longer walks.
It’s nice to explore the spaces around you when on these walks. You’ll end up discovering more of your surroundings than you’d ever expect. One nice benefit I’ve found is that I can do a 35ish minute walk to the movie theater I’d normally drive to. Doing this lets me just go see a movie on a whim, eat at one of the many restaurants near it. Maybe get a little drunk and be able to walk off a meal/buzz on the way back. I’ve had many epiphanies in this state of mind. You’ll just be a more relaxed individual if you adopted this.