No, we don't. On the advice of a few canine behaviourist we've been told it is much better to walk your dogs a couple of times a week, then do other activities with them the other days. Dogs using their brain get more satisfaction and happily tired out than just plain walking.
We play 'treasure hunt' sniff and find games, they work for their food through puzzle toys, and for the younger (8 years old) dog we do occasional zoomies in the backyard with DH and I joining in. Once we started this sort of routine instead of only walking, neither of our dogs were destructive in any way.
Walking is also stressful for some dogs (including mine) if they have issues with other dogs, cars or an owner who is nervous about taking them out.
Walking your dog is fine, but it's not the only way for them to get exercise and be stimulated.