Etymology
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perambulation (n.)

mid-15c., perambulacioun, "a journey or tour of inspection," especially a walk around the borders of a property, parish, etc., to determine the boundaries, from Anglo-Latin (c. 1300) and Anglo-French perambulacion, from Medieval Latin perambulationem (nominative perambulatio), noun of action from past-participle stem of Latin perambulare "to walk through, go through, ramble through," from per "through" (from PIE root *per- (1) "forward," hence "through") + ambulare "to walk, go about" (see amble (v.)). Meaning "act of passing or wandering through or over" is by late 15c.

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Definitions of perambulation

perambulation (n.)
a walk around a territory (a parish or manor or forest etc.) in order to officially assert and record its boundaries;
perambulation (n.)
a leisurely walk (usually in some public place);
Synonyms: amble / promenade / saunter / stroll
From wordnet.princeton.edu