I really enjoy exploring Bangalore on foot, especially in areas with a mix of local life and old architecture. Basavanagudi is a nice place to start. You can walk around the streets, visit Bull Temple, and try local food.
Jayanagar is another good option for a relaxed walk. It has markets, small shops, cafés, and a more local feel. Church Street is better if you enjoy cafés, bookstores, shopping, and a lively evening atmosphere.
For heritage and local culture, the old areas around Chickpet and Avenue Road are also interesting. I would suggest choosing one neighborhood at a time, as it makes the walk much more enjoyable.