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I have an iPhone running iOS 12. Is there anyway to change the travel type as I walk a lot so that it automatically gets walking directions where possible and shows travel times as walking times?

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This can be changed in Settings -> Maps -> Preferred Transport Type.

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Change it to walking or your choice of transport.

When you set your mode of transport it will automatically give directions for that transport type:

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The type can still be changed manually if you are using another mode of transport but it will be set to your choice by default.

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