No, you can have "regular" walks. But, the more you allow the dog to pull, etc., on a "regular" walk, the harder the exercises are going to be and the associations between "regular" walks and walking properly.
I believe that every interaction with your pet is a chance to teach/learn something (from each other). If I take a "regular" walk, I work the exercise first, then the walk as a reward for working hard and walking properly. Same for sniffing and "marking" behaviors. Those become rewards on regular walks for walking several blocks with a loose leash, as asked.
Good luck.