Your ancestors walked in really shitty shoes. It's just walking, stop over thinking it.
It's fucking cringe when people dress up to go hiking. Just wear what you normally wear, you don't need special clothing. I camped at a state park campsite a few weeks ago with my wife and there was a couple in their late 20's, the yuppie thot took the time to wear a red flannel shirt, a vest, boots, etc. when she was camping at a site with a picnic table, electricity, permanent grill, etc.