I know that both faire une promenade and se promener mean "to walk," but which one is considered better to use?
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If you say "je vais me promener" without saying where, you're going to wander, hang around.
But if you say "on va se promener en ville" ou bien "on a fait une promenade en forêt", you mean a real walk, enjoy the landscape, whatever.
Promenade/promener do not quite equal "walk" (which would be the more generic marcher). They both imply a component of leisure, and are usually translated by "take a walk".
There is actually a nuance of meaning between se promener and faire une promenade, as the latter is a punctual action, but for the most part, both are grammatical. Personally I don't like faire une/des promenade(s) (I think it's clunky, especially in the plural), but it's probably just me.