Since you do a lot of walking, be sure you wear a good pair of walking shoes, shoes built for walking. Do stretches to strengthen your knees, hips, quads, hams, shins, and calves.
Here is my stretching page that gives the stretches I do. Google searches will lead you to other good stretches. We usually think of stetches and keeping muscles loose and elongated, but some stretches strengthen our muscles.
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