Etymology
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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." Also see here. Related: Sauntered; sauntering.

saunter (n.)

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

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Definitions of saunter
1
saunter (n.)
a careless leisurely gait;
he walked with a kind of saunter as if he hadn't a care in the world
saunter (n.)
a leisurely walk (usually in some public place);
2
saunter (v.)
walk leisurely and with no apparent aim;
Synonyms: stroll
From wordnet.princeton.edu