As someone who also does this, my advice: Pick a destination, but vary the route. Don't take the optimal route. It's easy on grid streets; just move laterally

As someone who also does this, my advice: Pick a destination, but vary the route. Don't take the optimal route. It's easy on grid streets; just move laterally a block or two on the way. And give yourself permission to explore, by making sure you don't have anything planned: just stop and poke your nose into anything that sparks your interest.