why don't we go out for a walk

It's not redundant. The first sentence emphasises going for a walk. The second emphasises that they go outdoors together daily, and they go for a walk while they are outdoors.

Cross-posted.

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I agree with Barque, although you vì thế have a point. There's a different emphasis in each. Anyway, the second is more idiomatic even if the intention is the same: that's the sort of thing people vì thế say. It is good lớn be aware of unnecessary repetition and redundancies. :)

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"We're going out for an hour, just for a walk".

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Does it mean "by walking"? Thanks.

No, it means that you are going out in order lớn take a walk [=walk for pleasure].
At least, that is what it means in American English.