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Saunter is a leisurely, aimless walk or stroll.
A person could take a stroll, or go for a stroll.
Stroll
Yes, the word 'stroll' is a noun, a singular, common noun, a word for a short, leisurely walk.
The word 'stroll' is also a verb meaning to walk in a leisurely manner.
A stroll is an ambling - a leisurely walk or ramble.