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saunter (n.)

"a leisurely stroll," 1828, from saunter (v.). Earlier it meant "idle occupation, diversion" (1728).

saunter (v.)

late 15c., santren "to muse, be in reverie," of uncertain origin despite many absurd speculations. Meaning "walk with a leisurely gait" is from 1660s, and may be a different word. Klein suggests this sense of the word derives via Anglo-French sauntrer (mid-14c.) from French s'aventurer "to take risks," but OED finds this "unlikely." Related: Sauntered; sauntering.