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It's all mindset for me. I used to try to hike fast and would beat myself to shit doing so.
Then I stopped caring about speed and just walk at a comfy pace, stopping to look at/eat bugs or mushrooms or nice rocks as I feel. Oddly enough my average time has only gone up a bit, and my pace is still pretty decent. I think it's because trying to set a fast pace, I would wear out quickly and burn out, while going comfy from the beginning allows for better and easier travel in the wee hours of a hike, tortoise versus hare or somethin
