I grew up in a suburban neighborhood that was built to only encourage driving and discouraged everything else, so my parents also took me most places during my teenage years. The cul-de-sacs made it particularly hard to walk to anything interesting, even though such destinations were actually fairly close by, as the crow flies.

What I would suggest is that if there aren’t many interesting destinations to start with, perhaps the walk itself can be of interest. Unless the walk to the mall is along a surface freeway with no soundwall – an actual occurrence in my hometown – you might start with an out-and-back trek to the mall, observing whatever architecture, people, or activities are visible and audible, and then return home. Think of it like people-watching, but less awkward because you’re just passing by, not stopping to stare.

As another commenter wrote, getting comfortable with something is a matter of doing it, first in a controlled manner and then gradually broadening your horizons.

But if this still isn’t a workable plan, then perhaps plan a day out to the 1-hour-away park, taking some time to explore what’s just outside that park. It’s not cheating to use a car to get to a more walkable area. But the walk should be the adventure.

I wish you the best of luck!

P.S. One other thought: could you go walking with someone else besides your parents? They may already have their own walking paths that you may also find workable, places that you can then explore on your own.