In most contexts yes, it’s important to make the distinction. But not every single one - which is the point on how the meanings of words can expand slightly. This is what my frienddescribes themself as doing, not as some fantasy of physically walking, but because there’s a more general/cultural meaning to the ideas of walking or going on a walk that is still essentially true, and being pedantic about how literally they use the words can sometimes be, at best, pedantic and, at worse, demeaning.

Another example that may be more relatable: If I read a rumor on a text message and then casually relayed that I had “heard” about it to a friend - am I lying or using an acceptable general use of ‘heard’? In casual conversation “read” might imply a more formal source, unless I specify I read in a text exchange with an acquaintance. But these expanded meanings let natural spoken language have these shortcuts built in.