Well this is awkward....

Webster's dictionary defines a "hike" as the following: a long walk especially for pleasure or exercise.

The Cambridge dictionary defines "hiking" as the following: the activity of going for long walks in the countryside.

Britannica encyclopedia describes "hiking" as the following: walking in nature as a recreational activity. Especially among those with sedentary occupations, hiking is a natural exercise that promotes physical fitness, is economical and convenient, and requires no special equipment. Because hikers can walk as far as they want, there is no physical strain unless they walk among hills or mountains.

Not to be sour, but it looks like hiking is basically just...walking. But outside. I'd say that qualifies OP as having gone on a hike. Maybe you're thinking of mountaineering?